Beat the baked sweet potatoes with milk, eggs, sugar, butter, vanilla, cinnamon, and salt using an electric mixer.
Make a pecan crumb topping by mixing brown sugar, flour, and pecans, then working in the butter with your hands or a pastry cutter.
Spread the sweet potato filling into a 9x13 pan, then sprinkle the pecan topping over it.
Bake at 350°F for about 40 minutes, until the filling is set.