Peel the mangos, cut the flesh off the stone and dice roughly. Puree mangos, yoghurt and sugar with a hand blender. Whip cream until stiff and fold in.
Fill some ice cream mixture into the ice cream cups with a handle, leaving 5-6 mm space to the edge. Close the moulds and put the sticks through the lid. Spread the rest of the mixture into the espresso cups and cover.
Freeze everything for 4-5 hours.
Allow cups to thaw at room temperature for 10-20 minutes before serving. Hold the ice cups briefly under warm water and remove the ice.