For the lime and mango sauce
In a medium saucepan, combine the coconut milk, coconut cream, agave syrup and sugar and cook over a medium heat, stirring frequently, until the mixture comes to a simmer.
Transfer the mixture to a blender, cover very tightly and blitz for 30 seconds. Alternately, use a stick blender directly in the pot.
Stir in the vanilla and salt and refrigerate until very cold. Churn in an ice cream maker according to manufacturer’s instructions, or see TOP TIP if you don’t have one.
Transfer to an airtight container and chill in the freezer until the ice cream is firm enough to scoop, for about 5 hours.
To make the sauce, cover the mango pieces with boiling water for at least 15 minutes, or until soft. Place in a blender along with the zest, lime juice and syrup and blitz until smooth.
Serve the coconut milk ice cream with the sauce drizzled over.
If you’re not using an ice cream maker, divide the mixture among 3-4 zip-top bags and freeze on a baking tray until solid. Break the frozen mixture into pieces and process in a blender or food processor until smooth then spread into an airtight container and freeze again until firm.