In a bowl, combine 150g yogurt, 250g mascarpone, 40g sugar, 2 cl orange liqueur, and the scraped pulp from 0.5 vanilla pod. Mix until smooth, about 2-3 minutes.
Peel both mangoes. Puree one mango and pass the puree through a sieve. Dice the other mango.
In a small bowl, toss the diced mango with 15g cane sugar and 15 ml lemon juice.
In 4 serving glasses, layer in order: mango puree, mascarpone mixture, diced mango pieces, mascarpone mixture. Garnish each glass with mint.