1. Prepare the Gelatin: In a small bowl, dissolve the gelatin in ½ cup of water. Let it sit for about 5 minutes to bloom, then gently heat over low heat, stirring until fully dissolved. Set aside to cool slightly.
2. Blend the Mangoes: In a blender, add the diced mangoes and blend until smooth to create a thick puree.
3. Combine Mango and Condensed Milk: In a large bowl, mix the mango puree with sweetened condensed milk until smooth and creamy.
4. Add the Gelatin: Slowly pour the dissolved gelatin into the mango mixture, stirring continuously for even distribution.
5. Whip the Cream: In a separate chilled bowl, beat the heavy whipping cream until soft peaks form. Add vanilla extract if desired.
6. Fold the Whipped Cream: Gently fold the whipped cream into the mango mixture without deflating the air for a light texture.
7. Chill the Mousse: Pour the mixture into serving glasses or a large dish. Cover and refrigerate for at least 4 hours or until set.
8. Serve: Garnish with fresh mango slices or whipped cream if desired.

Enjoy the tropical essence of this creamy, airy mango mousse, perfect for any warm-weather occasion!