Peel and dice the ripe mangoes.
Add the diced mangoes to a blender.
Pour in the heavy cream and blend until smooth.
Add the sweetened condensed milk and vanilla extract to the blender.
Blend again until all ingredients are well combined.
Stir in the lemon juice.
Transfer the mixture into a suitable container.
Cover the container and place it in the freezer.
Freeze for at least 4 hours or until firm.
Let the ice cream sit at room temperature for a few minutes before serving.