Blend the diced mangoes, sweetened condensed milk, vanilla extract, lime juice, and salt in a blender until smooth.

If using gelatin, bloom it in cold water for 5 minutes and then dissolve it in low heat before adding it to the mango mixture.

In a separate bowl, whip the chilled heavy cream until soft peaks form.

Gently fold the whipped cream into the mango mixture in batches to maintain airiness.

Spoon into serving dishes, cover, and refrigerate for at least 2 hours to set.