Whisk the mango pulp, condensed milk, lime zest and juice add confectioners' sugar in a bowl until smooth; set aside.

Add 1 cup heavy cream and beat with a mixer on medium-high speed until stiff peaks form, 1 to 2 minutes.

Add ½ cup whipped cream into the mango mixture with a rubber spatula until combined, then fold in the remaining whipped cream until no white streaks remain.

Spoon the mixture into a freezer-safe 9-by-5-inch loaf pan or 2-quart baking dish. Cover with plastic wrap and freeze until firm and scoopable, at least 6 hours or overnight. Let soften about 20 minutes at room temperature before scooping.