Preheat oven to 375°.
To prepare the cake, coat a 10-inch Bundt pan with cooking spray, and dust with 1 teaspoon flour. Set prepared pan aside.
Combine 1/2 cup milk, oil, vanilla, eggs, and sweet potatoes in a medium bowl.
Lightly spoon 3 cups flour into dry measuring cups; level with a knife. Combine 3 cups flour and next 7 ingredients (3 cups flour through cinnamon) in a large bowl, stirring well with a whisk.
Add milk mixture to flour mixture; beat with a mixer at low speed 2 minutes or until blended. Pour batter into prepared pan. Bake at 375° for 55 minutes or until a wooden pick inserted 1 inch from the edge comes out clean. Cool in pan 10 minutes on a wire rack; remove from pan. Cool completely on wire rack.
To prepare the glaze, combine powdered sugar and remaining ingredients in a bowl; stir well with a whisk. Drizzle glaze over cake.