In a large mixing bowl, whisk together sweetened condensed milk, vanilla extract, and fine sea salt until smooth and well combined.

Using a stand mixer or an electric hand mixer, whip the cold heavy cream on medium speed for about 2-3 minutes, or until stiff peaks form.

Gently fold one-third of the whipped cream into the sweetened condensed milk mixture, then gradually add the remaining whipped cream in two more batches, folding carefully.

Fold in the chopped ripe mango, reserving a few pieces for topping later.

Pour the mixture into a loaf pan, smoothing the top, and place it in the freezer uncovered for about 2 hours.

After 2 hours, press the reserved mango pieces into the top of the ice cream, cover tightly with foil, and return to the freezer for 8-12 hours.

Once set, remove from the freezer and allow it to sit for a few minutes at room temperature before scooping.