Preheat oven to 350F and place oven rack in middle position. Prepare 9x13 pan by spraying bottom and sides with nonstick baking spray.
In the bowl of a stand mixer fitted with the whisk attachment, mix cake mix, sweet potato, cream cheese, oil, eggs, vanilla on medium low speed for 1 minute, until well combined.
In a small bowl, stir brown sugar, cinnamon, ginger, and nutmeg until evenly mixed. Set aside.
Pour half of the cake batter into prepared pan. Spread sugar and spice mixture onto first layer, then pour the remaining half of the cake batter on top of the sugar mixture and spread evenly. Using a butter knife, swirl the cake batter and sugar mixture together to create a gentle swirl pattern (don’t completely mix together).
Bake until golden brown and the cake starts to pull away from the sides of the pan, about 27-29 minutes.
Remove the cake from the oven and let cool completely in pan, about 30 minutes.
While cooling, make the icing by whisking together confectioners’ sugar, milk, and maple syrup until thick and smooth.
Once cool, pour and spread icing over the cake and let sit until the icing has set, about 10 minutes. Cut into 24 slices, serve and enjoy!