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Puree mangoes in processor until very smooth. You need about 1 1/2 C. puree for this recipe.
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Put mango puree, yogurt, half and half, sugar and lime zest into a large bowl and whisk until combined. Whisk the mixture long enough that the sugar dissolves in the liquids and is not gritty. Gradually add the lime juice and kosher salt to the mixture to your taste. (I added the juice of both small limes and a good pinch of kosher salt to my batter.)
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Chill the batter and then churn it in the ice cream maker of your choice. Once it is churned, store the frozen yogurt in an airtight container in your freezer for 3 o 4 hours before serving. If the frozen yogurt is very hard when you are ready to serve it, let it sit on your counter to soften.
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Serve garnished with diced fresh mango, fresh raspberries and more lime zest. (The fresh raspberries are spectacular with this dish.)