Peel and chop the mangoes, then blend them until smooth to make a puree.

In a mixing bowl, combine the mango puree, heavy cream, sweetened condensed milk, lime juice, and vanilla extract. Mix well until smooth.

Pour the mixture into an ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.

Transfer the ice cream to an airtight container and freeze for at least 4 hours or until firm.