Peel the mangoes sliced as much as you can off the seeds and puree until smooth in a blender or food processor. 

Heat the mango puree with ¼ cup of sugar in a small saucepan and stir until slightly reduced and thickened, about 5 minutes. Scrape into a large bowl and set aside to cool.

In a large saucepan combine 1 cup milk, 1 cup of the heavy cream and heat until steaming.

In a separate bowl whisk together the egg yolks, remaining sugar and pinch of salt. While continuously whisking, slowly add in some of the heated milk mixture a fourth a cup at a time to temper the eggs. Once tempered, scrape the warmed eggs back into the saucepan with a spatula. Add in the orange zest and juice and stir the custard until thick. About 15 minutes. 

Set a strainer over the bowl with the cooled mango puree and pour the custard in, scraping with a spatula to get rid of any little cooked eggs bits. This will also leave the orange zest in the strainer as well that is fine its what you want. 

Stir together the mixture and add in the remaining cup of cream, vanilla and rum. Stir well then either transfer to airtight containers or place plastic wrap over the bowl and chill completely. 

Using an ice cream machine, churn ice cream according to manufacturers directions. My machine takes about 20 minutes to churn.

Transfer churned ice cream to freezer safe containers with lids and freez