Begin by peeling and dicing your ripe mangoes, ensuring you remove any fibrous parts. In a blender or food processor, add the diced mango and blend until smooth, creating a vibrant puree. Set aside the mango puree in a bowl.

In a chilled mixing bowl, pour in the heavy cream and use an electric mixer to whip the cream on medium speed until soft peaks begin to form. The process should take about 3-4 minutes.

In a separate large bowl, combine the reserved mango puree, sweetened condensed milk, lemon juice, and vanilla extract. Stir gently until fully blended, ensuring all ingredients are harmoniously mixed together.

Gently fold the whipped cream into the mango mixture using a spatula in three parts, carefully turning the mixture to retain the airy texture until a light and fluffy consistency is achieved.

Transfer the mousse mixture into individual dessert cups or a loaf pan for easy serving. Cover each container and place in the freezer for at least 4 hours, or until fully set.

Once your Frozen Mango Mousse is set, take it out of the freezer and garnish with fresh mango slices or mint leaves before serving.