Wash the mangoes in clean tap water thoroughly.
Soak the mangoes in tap water for 60 minutes minimum.
Wash it again in clean tap water, to remove any loose dirt.
Take a wide pot and keep a strainer on top of it.
Now with the help of your thumb and fingers, squeeze the mango. Do not remove the top stem/tip of the mango.
Once the mango is soft overall, remove the tip and discard.
Remove the pulp in the strainer.
Strain the pulp by gently pushing it against the sieve.
The pulp will be collected in the bottom vessel.
After removing all the pulp, immerse the skin and the seed in half a cup of water.
Do the above steps with the remaining mangoes.
Now give the skin and the seeds a nice rub against the water. (Optional step, but I would advise you to not skip it.)
Strain the juice and repeat the above step at least 2 more times.
Now add in the sugar, cardamom powder, and milk.
Adjust the quantity of sugar and milk as per your taste.
Let it cool for 30-60 minutes in the refrigerator.
Serve it with Puri or parathas or simply enjoy it as dessert.