Pre-heat your oven to 355°F (180°C).
Slice the mango cheeks off the mango and slice off the sides. Cut the cheeks into a grid pattern and pop them out so the cubed flesh is outwards. Slice lines in the side pieces.
Place sliced mango on a baking tray. Bake for 25 - 30 mins or until mango is starting to dry out and is just starting to caramelize around the edges.
All to cool. Slice off mango flesh and put into a small food processor. Use the back of a knife to scrap the mango flesh from the skins. If you want, slice any left over mango flesh from the internal seed or spear and add to food processor, or squeeze it off with clean hands.
Process well until smooth, then strain. You should have about 1 and ¼ cups (300mls) smooth mango puree.
Measure out the milk. Transfer two tablespoons to a small bowl. Add the tapioca starch and mix to form a slurry.
Add the rest of the milk, cream, sugar and glucose syrup to a pot on the stove. Heat on low, stirring well until sugar and glucose syrup is dissolved.
Add the tapioca starch slurry and mix well.
Turn off heat and allow to cool.
Transfer mango puree and rest of mix to a heat proof jug. Blitz with an immersion blender to mix well.
Chill in fridge for at least four hours, preferably overnight.
Put your storage container in the freezer to chill.
If you have a self refrigerating ice cream machine turn it on about ten minutes before churning, other wise take the churning bowl out of the freezer right before churning.
Churn the ice cream. It will be the consistency of soft serve when done. Transfer to chill container and freeze for four hours or until firm.
To serve remove from freezer, scoop and enjoy. Fabulous on its own, or with some extra fresh mango. Delicious!