Boil batata: Cut the sweet potatoes into small pieces. Boil int salted salt until it's fork-tender. Remove from the water, discard water and let the batata cool to room temperature. Once cool mash a bit (only necessary if you don't have a strong blender).
Blend: Mix sweet potatoes, milk, coconut milk, vanilla, and sugar. Blend to a liquid state. Taste and add more sugar to taste if you find it necessary (I did not).
Freeze and serve: Pour into the popsicle molds (Amazon affiliate links) or plastic cups, cover and place the stick. Freeze solid. Serve once frozen.
Dominican batatas are technically sweet potatoes, although a different variety from the orangey one available in most countries. You can read more here. You could use whatever sweet potato you find, but bear in mind the texture and flavor will be different.You can use almond milk, or another milk substitute if you wish. Instead of sugar, use sweetener of your choice if you like. Substitutions may change the flavor, so keep that in mind.