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.