Peel and slice the sweet potato into 1/2-inch pieces or thinner and add them to a baking dish. Mix the brown sugar and agave nectar together in a small bowl and pour it over the sweet potatoes. Bake for 30 minutes to 1 hour.
Cool the potatoes in the refrigerator overnight, which will help soften the potatoes. Blitz the potatoes in a food processor. Make certain all of the syrup is being mixed in with the potatoes and not falling to the bottom of the processor. Add 2 cups of oat milk and blend. Add the 1/2 cup of splenda, vanilla extract and pie spice and continue to mix until the milk has turned a light orange color. Pour into an ice cream machine and churn according to your machine's instructions. Transfer the ice cream to a covered container and keep in the freezer until ready to enjoy.
This recipe was provided by a chef, restaurant or culinary professional. It has not been tested for home use.