Preheat the grill to medium heat. The right temperature is key for grilling the mango, ensuring it gets those beautiful char marks without burning.
Toss the diced mango with cinnamon in a bowl. Make sure every piece is well coated, as this will infuse the fruit with that lovely warm spice.
Thread mango chunks onto skewers, if you're using bamboo skewers, soak them in water for about 30 minutes first to prevent them from burning on the grill.
Grill the mango over direct heat. Keep an eye on them! You're looking for about 2 to 3 minutes per side. You want the mango slightly charred and caramelized.
Set the grilled mango aside to cool. Once cooled, dice the chunks into smaller pieces to mix into your ice cream later.
In a mixing bowl, whisk together the cold milk and granulated sugar until fully dissolved. This helps create a smooth ice cream base.
Set up your stand mixer with the frozen KitchenAid Ice Cream Maker attachment according to the manufacturer’s instructions. Make sure everything is well chilled for optimal results.
Pour the milk mixture into the ice cream maker bowl. Add the heavy cream, half and half, and vanilla extract.
Churn the ice cream for about 10 minutes, or according to your machine's instructions. You’re looking for a soft-serve consistency.
Add the chopped, grilled mango to the ice cream and continue churning. This is where that beautiful flavor infusion happens!
Freeze the ice cream in a freezer-safe container. You can enjoy it immediately as soft-serve, or let it firm up for about 2 to 4 hours for a scoopable texture.
Top with crushed graham crackers just before serving for an added crunch. The texture will perfectly complement the creamy ice cream!