Sauté onion and garlic in hot oil in a medium saucepan over medium heat 4 minutes or until onion is tender. Add tomatoes and next 6 ingredients. Cook, stirring occasionally, 10 minutes or until almost all liquid evaporates. Stir in mango, and cook 1 minute. Let cool 20 minutes. Stir in cilantro. Serve warm, or cover and chill until ready to serve.