Using a stand mixer or hand mixer with a whisk attachment on medium high speed, whip the cold heavy whipping cream to firm peaks, about 3-4 minutes. Firm peaks is when you pull the whisk out of the whipped cream and a peak with a sharp tip forms and holds its shape.
Drain the syrup from the mangos, make sure you reserve the syrup for the ice cream!! Set the mangos aside.
Turn the mixer to medium low speed and whisk in the sweetened condensed milk, vanilla, and 1/2 cup mango syrup until well incorporated, about 30 seconds.
With a wooden spoon or spatula fold the diced mangos into the cream mixture.
Pour the mango and cream mixture into a freezer safe container. I like to use a metal loaf pan.
Cover the pan with plastic wrap and place in the freezer for at least 6 hours, until it is frozen thru.
Serve using an ice cream scoop. *Optional- top with your favorite toppings: chopped nuts, toasted coconuts, extra mango chunks, whipped cream, etc...