In a food processor, blend together the fresh mangoes, cream cheese and sweetened condensed milk until smooth.
Add vanilla extract to the mixture, stir once and blend it again until very smooth.
Transfer the mixture to a freezer safe container, and store in the freezer for about 30 minutes.
After 30 minutes, while the mixture is still soft, beat the mixture using an electric mixer in medium speed for about 2 to 3 minutes until the mixture is very creamy.
Transfer the mixture back to the freezer, cover and freeze for another 6 hours or until the ice cream is set.
If the ice cream is left in the freezer for too long, just transfer the ice cream to the refrigerator for about 5 to 10 minutes so you can easily scoop it out. Enjoy the smooth, creamy and soft homemade fresh mango ice cream for a delicious dessert!