Preheat your oven to 350°F (175°C) and grease a 9x13-inch baking dish.

In a large mixing bowl, combine the mashed sweet potatoes, granulated sugar, eggs, whole milk, melted butter, vanilla extract, ground cinnamon, and salt. Mix until smooth, about 2–3 minutes.

Pour the sweet potato mixture into the prepared baking dish, spreading it evenly.

In another bowl, combine the chopped pecans, all-purpose flour, and brown sugar. Add the softened butter and mix until crumbly.

Sprinkle the pecan topping over the sweet potato mixture.

Bake in the preheated oven for 35–40 minutes until the topping is golden brown.

Remove from the oven and let cool for a few minutes before serving.