Bring the coconut milk, sugar, lemon zest, vanilla pulp and water to a boil in a saucepan. Let the semolina trickle in while stirring. Leave to swell over low heat for five minutes while stirring. Stir frequently as it cools.
Peel the mangoes, separate the pulp from the stone and place in a mixing bowl. Add the silken tofu and honey and puree everything together vigorously.
Half fill the dessert glasses with semolina and top up with the mango mousse.