Bake the Sweet Potatoes: Preheat oven to 400°F (204°C). Place sweet potatoes on a baking sheet and bake for about 45 minutes, or until tender. Larger sweet potatoes may require up to 1 hour.
Prepare the Filling: Once cool enough to handle, scoop out the flesh of the sweet potatoes into a mixing bowl. Add melted butter, brown sugar, milk, egg, maple syrup, cinnamon, and vanilla extract. Whip until smooth and creamy.
Make the Streusel: In a separate bowl, combine softened butter, brown sugar, and flour. Mix until crumbly.
Assemble the Casserole: Preheat oven to 350°F (177°C). Spread the sweet potato mixture evenly in a greased 9x9-inch baking dish. Sprinkle the streusel over the top.
Bake: Bake for 28–32 minutes, or until the casserole is heated through and the streusel is golden.
Add Marshmallows: Remove from oven and sprinkle mini marshmallows over the top. Return to oven and bake for an additional 4–5 minutes, or until marshmallows are toasted. For a more toasted top, place under the broiler for 1–2 minutes, watching closely to prevent burning.