In a saucepan over medium heat, combine the milk, heavy cream, sugar, and a pinch of salt. Stir until the sugar dissolves, then remove from heat.
In a separate bowl, whisk the egg yolks until smooth. Slowly add a ladle of the warm milk mixture to the yolks while whisking to temper them.
Pour the tempered egg mixture back into the saucepan and cook over low heat, stirring constantly, until the mixture thickens slightly and coats the back of a spoon. Do not let it boil. Remove from heat and stir in the mango puree, honey, vanilla extract, and lemon juice for a slight tang.
Strain the mixture through a fine sieve to ensure a smooth texture, then let it cool to room temperature.
Once cooled, whisk in the Greek yogurt until fully combined. Refrigerate the mixture for at least 4 hours or overnight to enhance the flavors.
Churn the mixture in an ice cream maker according to the manufacturer’s instructions.
Transfer the ice cream to an airtight container and freeze for a few hours to firm up before serving.