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Peel the potatoes and yams. Place the potatoes and yams in a large pot of water. Bring to a boil; reduce the heat. Boil gently until the potatoes and yams are tender, about 20 minutes. Remove the potatoes and yams from the water. When cool enough to handle, slice into rounds and set aside. Peel, core and slice apples.
To make a glaze, in a small pan stir together the honey, orange juice, cinnamon and vanilla extract. Stir over low heat until the consistency is even. Pour the glaze over the yam, sweet potato and apple slices.
Bake, uncovered, until browned, 15 to 20 minutes. Remove from the oven and sprinkle with powdered sugar. Serve immediately.