Clean and pierce a sweet potato with a fork. Wrap in foil and roast for 1 hour at 350℉ until soft. Let cool completely.
In a small saucepan, add oats, milk, mashed sweet potato, maple syrup, cinnamon, nutmeg, ginger, cloves, vanilla, and salt. Stir to combine.
Bring to a gentle simmer over medium heat, then reduce heat to low. Cook for 6-8 minutes, stirring occasionally, until the oats are soft and creamy.
Add an extra splash of milk if needed to reach your desired consistency.
Spoon into a bowl and serve with a dollop of vanilla yogurt, a drizzle of maple syrup, and a dash of cinnamon. Serve warm.