Fill a large saucepan with water and bring to a boil. Gently drop the whole, unpeeled sweet potatoes in the boiling water and cook for 20 minutes until just fork tender. Remove from the water and allow to cool until you're able to handle them.
While your potatoes are cooling, prepare your honey mustard dipping sauce. In a small bowl, combine the honey and mustard with a spoon. Set aside until your fries are done.
Slice the sweet potatoes lengthwise into 8 slices per potato. Use a basting brush to coat each slice with canola oil. Season with salt and pepper.
When you're ready to grill, start your fire and preheat your grill to medium high (about 400 degrees).
Place your sweet potatoes cut side down on the hot grill and cook for 2-3 minutes. Flip to the other cut side and grill for an additional 2-3 minutes. I found that tongs were the easiest way to flip the fries, but if your sweet potatoes are sticking at all, try a metal spatula.
Transfer your finished fries to a serving platter, drizzle with the honey mustard sauce, and garnish with the chopped parsley. Serve warm.