Combine first 3 ingredients in a microwave-safe bowl; microwave at HIGH 1 minute or until sugar melts. Cool completely. Add juice to syrup mixture; stir well.
Spoon 1/4 cup ice cream into each of 6 parfait glasses; top each serving with about 2 tablespoons chopped mango. Drizzle 1 tablespoon syrup mixture over each serving; top each serving with 1 1/2 teaspoons gingersnap cookie crumbs. Repeat layers with remaining ice cream, mango, syrup mixture, and crumbs. Serve immediately.