Place sweet potatoes in a pot and fill with enough water to cover them.
Bring water to a boil and cook until the potatoes have softened. About 20 minutes.
Remove sweet potatoes from water and cut them into 1 1/2" slices (set aside the end pieces). Slide the peel off of the sweet potato slices and place them on a greased baking sheet.
Use a spoon to take a scoop out of the center of each sweet potato slice and place the removed portion in a bowl. Make sure not to go through the bottom of the potato.
In a small bowl, mash the scooped out portions and the end pieces of the sweet potatoes, together with the brown sugar, orange juice, and cinnamon.
Stuff the sweet potato mash back into the sweet potato slices.
Make the topping by mixing the brown sugar, chopped pecans, butter, and cinnamon together.
Pour topping over each sweet potato slice.
Bake at 350°F for 30 minutes or until topping is bubbling. If you want to add marshmallows place them on the top of each sweet potato slice and let them bake for the last 10 minutes.