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Put potatoes in a medium pot, cover by 1 inch with water and bring to a boil. Reduce heat to medium-low and simmer until tender, 8 to 10 minutes. Meanwhile, heat a large skillet over medium heat, spray with oil, add sausages and cook, turning occasionally, until browned and cooked through, about 15 minutes. Transfer to a paper towel-lined plate to let drain briefly.
When potatoes are tender, add peas and edamame to the simmering water; cook 2 minutes more. Drain and return to the pot. Off of the heat, add milk, butter, mustard, salt and pepper, and mash with a potato masher until well combined. (For a smoother texture, purée in a food processor.)
Cut sausages in half and serve over warm mash.