Scrape out the pulp of half the vanilla pod and mix it with the sugar. If you like it more vanilla, you can also use the whole pod. Drain the juice of the mangoes (peel the fresh mangoes, remove the stone and cut into small pieces) and place the mango fillets in a bowl.
Now add all the other ingredients to the mangoes and puree everything. Put the mixture in an ice cream maker and let it freeze through.