Lightly grease your desired molds, such as ramekins or small cups, with a cooking spray or a thin layer of oil.

In a small bowl, combine 2.5 teaspoons of unflavored gelatin with 3 tablespoons of cold water and allow it to sit undisturbed for 5-10 minutes.

In a medium saucepan, gently heat 1 cup of heavy cream, 1 cup of whole milk, ½ cup of granulated sugar, and the seeds from a vanilla bean over medium heat for about 5–7 minutes.

Once the cream mixture is simmering, remove it from heat and stir in the bloomed gelatin until completely dissolved.

Distribute the cooled cream mixture evenly into prepared molds and refrigerate for at least 4 hours.

Puree about 2 ripe mangoes in a blender until smooth and strain through a fine sieve.

Heat about ½ cup of the strained mango puree in a small saucepan until warm and whisk in the bloomed gelatin until fully dissolved.

Mix in the remaining mango puree and 1-2 tablespoons of lemon juice.

Allow the mango mixture to cool slightly before pouring it over the chilled panna cotta base and return to the fridge for an additional 2 hours.

Carefully remove from molds and garnish as desired before serving.