Pre-heat BBQ or grill pan or medium high heat.
Slice mango cheeks away from pip, leaving skin on. Slice 1 lime in half. Place mango cheeks and lime slice side down onto hot grill and sear until caramelised and charred (about 4 mins).
While mangos and lime are grilling, combine yoghurt with juice and zest of remaining lime. When mangoes and lime are cooked, squeeze grilled lime over mangoes and sprinkle with smoked paprika.
Serve immediately with lime yoghurt on the side.
For a sweet variation of this mango recipe, brush grilled mangoes with frangelico (or liquor of choice), sprinkle with cinnamon and serve with honey spiked mascarpone.