Mash yuca. Combine with butter and and 1 tbsp. Adobo and blend until smooth. Stir in eggs, Masarepa flour and baking powder. Refrigerate until chilled.
Meanwhile, heat oil in skillet set over medium heat. Cook ground beef and remaining Adobo seasoning for 5 to 6 minutes or until starts to brown. Stir in Sofrito. Cook for 8 to 10 minutes or until very little liquid remains in pan. Cool completely.
Divide yuca mixture into 12 balls. One at a time, insert thumb into center of each ball. Stuff with heaping tbsp. meat and roll to enclose filling. Form into torpedo shape. Arrange on parchment paper-lined baking sheet. Refrigerate.
Fill a large pot with 6 cups of vegetable oil, or to a depth of 3”. Heat oil to 370 °F. Fry in small batches until golden, 4-5 minutes.
Serve with Salsa Pico de Gallo and sour cream if desired.