1. Place steamer in a large saucepan. Add water and sweet potatoes. Bring water to a boil, then simmer and steam potatoes until soft but not mushy, about 15 minutes. Drain and transfer to medium serving bowl.
2. While potatoes cook, prepare the glaze. In a small saucepan, whisk together apple juice concentrate, sugar substitute, and cornstarch. Bring to a boil over medium heat, stirring constantly. Boil and stir until thickened and bubbly, about 2 minutes. Remove from heat. Stir in butter and maple and vanilla extracts until blended.
3. Pour glaze over sweet potatoes. Toss gently to coat. Serve warm.
Source: Hannaford fresh Magazine, January - February 2007