Wash, peel and chop the mangoes and peaches. You may choose to leave the skin of the peaches on. Add them both to a blender.
Pour the condensed milk. Add the vanilla extract.
Blend till smooth. There is no need to add water. Only add if its too thick to blend.
Fill ¾th of the popsicle molds with the puree and freeze for 6-8 hours or overnight.
Notes
If using frozen fruits, just ensure they are just fruits and not with any added sugar or preservatives. In case these fruits are seasonal where you live, you can always cut and freeze some to be used all year through. If the fruits are not sweet enough, add some simple syrup or any other sweetener until you get the desired sweetness.