Prepare your ice cream maker, which for me means putting my churning tub into the freezer the day before.
Peel your mangoes, and cut them away from the seed. Chop them into large chunks, just enough that they'll fit in your blender.
Add the mango, yogurt, sugar, and lemon juice to your blender. Start low then turn up the speed until it's completely purified and lightened in color.
1 1/2 cups plain Greek yogurt, 2 mangoes, 1/2 cup sugar, 1 tablespoon lemon juice
Place the frozen yogurt base into the fridge to let it chill for a few hours.
Pour the base through a sieve and into your ice cream maker once it has chilled to around 40 degrees. This ensures that any of the pulp from the mango doesn't make it into your frozen yogurt and give you a funky texture later.
Turn on your ice cream maker. Watch for it to start to set up, which should take less than 10 minutes. Turn off your ice cream maker and scrape the frozen yogurt into a storage container.
Enjoy it soft serve fresh from the ice cream maker, or go ahead and freeze it 3 hours and enjoy it later. If you freeze it, let it soften at room temperature for 10 to 15 minutes so it's easier to scoop. This will also help bring out the flavors, as you can't taste as much when it's frozen solid.