Goat Cheese Smashed Potatoes

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2 pounds russet potatoes, peeled and cut into 1 1/2-inch pieces

1 pound white yams, peeled and cut into 3-inch pieces

Kosher salt and freshly ground black pepper

8 ounces fresh goat cheese, crumbled

4 tablespoons butter, cut into pieces, at room temperature

2 cloves garlic, minced

Freshly ground black pepper

1/4 cup warm milk, if needed