Prepare a 5-quart pot with water, and a steaming basket; set aside.
Wash, dry, and peel your carrots. Remove the tops of the carrots, by slicing off about ½ inch. Then, slice the carrot into one inch pieces. For the turnips, once you have removed the skin, trim off any rough edges of the root end with a sharp chef’s knife before cutting it into one inch cubes.
Add veggies to the steaming basket. Cover the pot with the lid, and steam for 25-30 minutes over medium-high heat. Your steamer or pot may vary, so I recommend checking them at the 25-minute mark to see if they are fork-tender. Just be careful because when you remove the steaming basket lid it will be hot.
Once fork-tender, drain any excess water from the veggies and pot. Add veggies back to the empty pot along with the butter, milk, spices, and sugar. Using a potato masher, gently mash the mixture. You want the veggies to be smooth, but still have some texture.
Transfer mashed carrots and turnips to a serving dish and add some minced parsley for garnish. Enjoy!