Boil Milk and Sugar on medium heat till reduced by half. Keep Stirring the sides and bottom. Once reduced, switch to low heat. Once it thickens switch off the heat and keep Stirring in the same pan. It will thicken as it cools. Add vanilla essence. Homemade Condensed Milk is ready. Allow to cool completely. I keep it refrigerated till i get other things done.
Cut 2 ripe Mangoes, about 1 1/4 Cup of diced Mangoes, make a puree without water. You should get around 1 Cup puree. Cook this puree on low heat till reduced by half. Allow to cool.
Add this puree with the cooled condensed milk.Add food color, optional and mango essence.Mix well.
Whip a cup of cold Whipping Cream to Stiff peaks. Takes around 4-5 mins depending on the fat content percentage. Mine was only 33%. The Creams with 35% will whip up faster. Also, It helps if you keep the container and the blades of the blender in the freezer for sometime.
Add some of this cream to the mango mix and fold well. Now add this tempered mix to the remaining whipping cream and fold gently.
Pour into an airtight container, place a cling film on the surface to avoid ice crystals. Freeze for 7-8 hours.
After freezing, keep the container at room temperature and wait for 10-15 mins if the ice cream is too much hard.