To prepare the mango layer. place mango nectar in a heat proof bowl and sprinkle gelatin on top. Gently stir until well incorporated. Set mixture sit for 10 minutes.
Meanwhile, in a blender, puree the mango flesh until smooth. Transfer to a large measuring cup with beaker. Place the gelatin mixture in the microwave and heat for 1 minute on high. Stir until gelatin completely dissolved. Pour gelatin mixture into the mango puree and stir well.
Prepare (8 - 6-ounces) individual serving glasses and place them in a mini muffin pan (or you can also use egg carton) at an angle. Carefully pour the mango mixture into each glass until almost to the edge of each glass.
Place in the fridge for at least 2 hours, or until set.
To prepare the Vanilla Bean Layer, In a small sauce pan, place milk and sprinkle gelatin on top. Give it a quick stir and let mixture sit for 10 minutes. When 10 minutes is up, turn on heat to low for the sugar and salt. Stir and heat until gelatin completely dissolved.
Remove from heat and whisk in the vanilla bean paste. Place the heavy cream in a large measuring cup with a beaker. Pour in the milk/gelatin mixture. Give it a quick stir.
