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Sauté onions in oil over medium heat in a 5L pot until soft. Add garlic and ginger and sauté for about 30 seconds or until fragrant. Add carrots and sweet potatoes to the pot, and cook additional 2 minutes, stirring frequently.
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Add diluted miso paste, chicken broth, and water, and bring to a boil over high heat. Cover, and simmer on low for 20 minutes until carrots and sweet potatoes are fork tender.
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Remove pot from heat and let cool slightly for 5 to10 minutes. Purée soup with a hand blender until completely smooth. Stir in milk, and reheat as desired. Season with salt and pepper to taste.
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Spoon soup into individual bowls, top with parsley and dash of lemon juice, and serve with fresh bread!