Preheat oven to 400°F. Pierce sweet potatoes several times with a fork and place on baking sheet. Bake until fork tender, approximately 1 hour.
Approximately 15 minutes before potatoes are done, heat olive oil in a skillet over medium. Rinse and drain beans; add beans to skillet along with corn, carrots, salsa, lime juice, cumin, salt, and pepper. Stir and cook until heated through.
Roughly chop parsley. Remove baked sweet potatoes from oven; slice open and pull at potato to mash up a bit. Divide bean mixture between potatoes and top with shredded cheese and parsley. Return to oven and bake 1-3 minutes until cheese has melted.