Add the chopped 3 whole ripe mangoes peeled, pitted, and roughly chopped (about 2½ cups flesh) flesh, ½ cup sweetened condensed milk, 1 tbsp fresh lime juice from about half a lime, 2 tbsp powdered sugar adjust depending on mango sweetness, and a pinch of 1 pinch salt enhances the mango flavor to a Blender. Blend on high until completely smooth and creamy, about 60 seconds. Taste and adjust sweetness with a little more 2 tbsp powdered sugar adjust depending on mango sweetness if needed. Set the 3 whole ripe mangoes peeled, pitted, and roughly chopped (about 2½ cups flesh) purée aside.

Pour the cold 2 cups heavy whipping cream cold and 1 tsp pure vanilla extract into a large Mixing Bowl. Using a Hand Mixer on medium-high speed, whip the cream until stiff peaks form, about 3–4 minutes. Be careful not to over-whip.

Gently fold the 3 whole ripe mangoes peeled, pitted, and roughly chopped (about 2½ cups flesh) purée into the whipped cream using a Rubber Spatula. Use slow, sweeping motions from the bottom of the Mixing Bowl upward to keep the mixture light and airy. Fold until just combined with no white streaks remaining.

Pour the 3 whole ripe mangoes peeled, pitted, and roughly chopped (about 2½ cups flesh) cream mixture into a Loaf Pan or freezer-safe container. Smooth the top with the spatula. Press a sheet of plastic wrap directly onto the surface of the ice cream to prevent ice crystals from forming. Freezer for at least 4 hours, or overnight for best results.

When ready to serve, remove the ice cream from the Freezer and let it sit at room temperature for 5–10 minutes to soften slightly. Scoop into bowls or cones and garnish with fresh 3 whole ripe mangoes peeled, pitted, and roughly chopped (about 2½ cups flesh) slices and a sprinkle of 1 tsp lime zest freshly grated if desired.