In 3-quart saucepan, place water, piloncillo, cinnamon sticks, anise stars, and whole cloves. Heat to boiling, stirring with a wooden spoon until piloncillo dissolves.
After 5 minutes, add sweet potatoes. Reduce heat; cover and simmer 40 to 45 minutes.
Remove and discard cinnamon sticks, anise stars, and cloves. Reserve syrup.
Serve sweet potatoes topped with reserved warm sweet syrup. Garnish with milk.
Notes
This dessert can also be made with pumpkins or squash instead of the sweet potatoes.