Peel and dice the ripe mangoes.

In a blender or food processor, blend the diced mangoes until you get a smooth puree. If the mangoes are not very sweet, you can add a splash of lemon juice to enhance the flavor.

In a large mixing bowl, combine the sweetened condensed milk and the mango puree. Mix well until the condensed milk is fully incorporated into the mango puree.

Stir in the vanilla extract and a pinch of salt. These will enhance the overall flavor of the ice cream.

In a separate bowl, whip the heavy cream until stiff peaks form. This will add a light and airy texture to the ice cream.

Gently fold the whipped cream into the mango and condensed milk mixture. Be careful not to deflate the whipped cream; this step is crucial for a creamy texture.

Cover the bowl with plastic wrap and refrigerate the mixture for at least 4 hours, or preferably overnight. This allows the flavors to meld and the mixture to chill thoroughly.

After the mixture has chilled, pour it into a shallow, freezer-safe container. This will help the ice cream freeze faster.

Place the container in the freezer and let it freeze for about 1-2 hours.

After the initial freezing, remove the container from the freezer and stir the ice cream well to break up any ice crystals. Repeat this process every 1-2 hours for the first 4-6 hours.

Once the ice cream reaches a soft-serve consistency, let it freeze completely for an additional 4-6 hours or overnight.