Start with very ripe mangoes, preferably Alphonso or Champagne varieties. As they ripen, mangoes trade their dark green coloring for bright yellow. If you can't find fresh, Pichet recommends Ratna canned mangoes, available at Indian markets and online stores. Prep: 25 minutes; Cook: 17 minutes; Chill: 3 hours.
Place first 3 ingredients in a large saucepan over medium heat, and sauté 5 minutes or until mango is very soft.
Add sugar, and continue cooking, stirring and scraping bottom of saucepan frequently, 12 to 15 minutes or until thick and syrupy with a few chunks of mango remaining. (Do not let sugar caramelize or brown.) Remove from heat, and cool to lukewarm.
Sprinkle gelatin over 3 to 4 tablespoons cold water in a small bowl, and let soften 3 to 5 minutes. Stir softened gelatin into mango mixture until dissolved. Add cream, and stir until blended.
Divide mixture among 10 (4-ounce) ramekins or serving bowls. Chill, uncovered, 3 hours or until set. Serve cold, topped with Sweetened Condensed Milk Chantilly or evaporated milk, if desired.