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Remove the flesh from the mangoes and freeze overnight.
Add the sugar and water to a small pan over medium-high heat. Stir and cook until the sugar has dissolved. Store the simple syrup in the fridge overnight.
Line a 23cm loaf tin with baking paper.
Add the frozen mango, syrup, lime/lemon juice and vanilla extract to a food processor. Blend until you have a smooth and thick mango mixture.
Scoop the mixture into your loaf tin and smooth the top. Cover and freeze for 1-2 hours or until the surface is dry to the touch.
Add the cream to a large clean bowl and whip until firm peaks form. Add the sweetened condensed milk and vanilla and beat until just combined.
Scoop the cream mixture onto the mango layer and smooth the top. Return the tin to the freezer. Freeze for at least 4 hours, but ideally overnight.
Remove the bars from the loaf tin. If they're stuck, run the tin under warm water. Use a sharp knife to cut the loaf into slices and enjoy. The ice cream bars melt quickly at room temperature, especially on a hot day. Store the remaining bars in your freezer for up to 1 week.