Heat 450 ml milk. Caramelise the sugar in a saucepan, add the milk while stirring. Stir until the sugar is dissolved. Stir starch and 5 tablespoons of milk until smooth. Stir peanut cream into the caramel milk. Stir in the starch and bring to the boil. Pour into a bowl and cover with foil directly on the surface.
Cool, but do not allow to set. Whip cream until stiff and fold into the cream. Pour peanut-caramel cream into bowls and chill. Peel the mango and cut the flesh in 8 thin slices from the stone. Chop the peanuts and roast them in a pan without fat, take them out. Serve the cream with mango slices and peanuts. Dust with cocoa