In a large bowl, mix together the sweetened condensed milk, vanilla extract and salt. Set aside.
In a stand mixer fitted with the whisk attachment or a large mixing bowl using an electric mixer with the whisk attachment, whip the cream until it is stiff, approximately 2-3 minutes.
In batches, gently fold the whipped cream into the sweetened condensed milk mixture.
Fold in about 90% of the mangos, reserving the rest to top.
Pour the mixture into a 9x5x3 bread pan. Place, uncovered, in the freezer for 2 hours.
At 2 hours, remove and press the remaining mango pieces into the top of the ice cream.
Cover with aluminum foil and return to the freezer for 8-12 hours.
Scoop and serve!
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Notes
*This is 1 3/4 cups if you making if from scratch.