Preheat oven to 350°.
Place potatoes in a small saucepan and cover with water.
Boil for 30 minutes or until cooked through.
Drain and place in a medium bowl.
Mash until smooth.
Coat a mini muffin pan with cooking spray.
Place a sugar cookie square in each muffin tin and bake for 8 to 10 minutes or until golden brown.
Remove from oven and press down the center of each cookie to create a cup.
In a medium bowl, combine mashed sweet potatoes, sugar, cinnamon, cream cheese and half of the whipped topping.
Remove sugar cookie cups from muffin tin and place on a platter.
Spoon sweet potato mixture into cooled cups and top with a dollop of whipped topping.
Place a toasted pecan half on top of each cup.
Drizzle with caramel ice cream topping.