In a small saucepan, place the sugar and water and bring to a boil. Boil for two minutes and then turn off heat. Let cool to room temperature, about 40 minutes.

Peel and cube the mangoes and place into the bowl of a food processor fitted with a metal blade. Purée until completely smooth, scraping down the bowl a few times. Add the agave, room temperature sugar syrup and lime juice, and process until mixed, about 30 seconds. Pour into your ice cream machine and chill according to machine directions.

Place into a container, press a piece of parchment paper on top, and chill for at least two hours. Store in the freezer.