For the vanilla yogurt with mango, peel the mangoes, cut the flesh from the stone. Wash the limes, grate the peel and squeeze out the juice.
Puree everything with pineapple juice. Put 1/3 aside. Puree the rest with yogurt and vanilla ice cream. Pour the set aside mango puree into glasses and carefully pour the mango vanilla shake over it.
Serve the vanilla yogurt with mango.