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Place the mango and condensed milk in a high speed blender or food processor. Blend, stopping the machine often to tamp down the fruit or scrape down the sides to help it break up, until the texture is smooth and airy, 1 to 3 minutes.
The soft serve is ready to eat immediately. If you’d like it firmer, scrape the mixture into a loaf pan or other container, cover and freeze for 1 hour, just until it’s firm enough to scoop. The soft serve can be frozen for longer, up to 7 days; allow it to stand for 5 to 10 minutes at room temperature to make it easier to scoop.