Place the yuca in a medium pot and cover with water. Bring to a boil over medium-high heat, reduce the heat and simmer, covered for 15 to 20 minutes, or until fork tender.
Heat the milk, cream, garlic and saffron in a medium sauce pan over medium heat until simmering. Remove from heat and set aside.
Drain the yuca and remove ay fiber from the center. Mash and add the milk saffron mixture, salt, pepper and parmesan cheese. Stir to combine and serve.