Put the mangos and fruit juice into a mixing cup and puree with a blender. Wash the lime thoroughly, finely grate the peel and squeeze the lime. Stir in lime juice, vanilla sugar, sugar and yoghurt.
Place in a bowl and put in the freezer for about 4 hours. Stir several times. Pour the mango puree into well-chilled dessert bowls. Serve as desired on ice cubes, decorated with mint leaves and slices of lime.