Preheat oven to 425º F (about 218º C). If you are using fresh yuca/cassava: peel the tough, waxy brown skin and also the pinkish-purplish layer under the brown skin.
Cut into three-inch sections, place in a pot with enough tap water to cover, and let boil over medium-high heat for 10-15 minutes or until fork-tender and the ends start to split open a little bit.
If you are using frozen yuca/cassava: since it is already peeled and divided into sections, place in a pot with enough tap water to cover, and let boil over medium-high heat for about 15 minutes or until fork-tender and the ends start to split open a little bit
Remove from water using a slotted spoon and drain on paper towels. When they are cool enough to handle, cut in half lengthwise and remove the thin, woody stick that runs through the middle.
Then, cut them into sticks (or into the desired shape), distribute them in a single layer onto a baking sheet, drizzle with olive oil, and season with salt, pepper, and dried cilantro. Bake for about 20 minutes, turning once.
Fries are done when they are crispy on the outside and still soft on the inside. Season with more salt & pepper, if desired. Squeeze a little fresh lime juice over them. Serve with ketchup, Jalapeño-Lime Aioli, or your favorite dipping sauce.
Store leftovers in an airtight container in the fridge for up to 2 days. Be aware they won't be as crispy as when they came out from the oven. Freeze them wrapped tightly with freezer wrap for up to 12 months.