In the bowl of a mixer, whisk egg yolks and sugar together until light a frothy. In a heavy sauce pan, heat the milk until scalding then slowly pour into the egg mixture, whisking constantly. Strain the milk and egg mixture back into the pan and place it over medium heat, stirring constantly until thickened (should coat the back of a spoon). Set aside to cool.
In a blender, place the mango cubes, the juice and zest of one lime. Whaz until the pulp is smooth like baby food. Strain the cooled custard into a clean bowl and whisk in the cream. Beat in the mango puree until fully combined. Pour into the bowl of an ice cream maker and churn until frozen (alternatively, you can place in a glass container and mix periodically with a fork to break up the ice crystals). Allow to freeze for several hours before serving.