Combine sweet potato and next 7 ingredients in a large bowl; beat at medium speed of a mixer until smooth. Add milk; mix well.
Pour sweet potato mixture into a 2-quart casserole coated with cooking spray. Bake at 375º for 1 hour or until a knife inserted near center comes out clean. Let pudding cool; cover and chill for 2 hours.
Note: For individual servings, pour 2/3 cup into each of 12 (10-ounce) custard cups. Bake at 375º for 40 minutes or until a knife inserted near center comes out clean. Let cool; cover and chill 2 hours.