If you are going to add milk, then you might as well just not strain the yogurt instead. I think milk will make it more "watery".

I think a lot has to do with the sweetness of the fruit you use. Fully ripe peaches are VERY SWEET. I made this with blackberries and even with stevia and a little xylitol it was very tart! (but still good)

I do not think mango is quite as sweet as ripe peaches. Plus honey is not as sweet as stevia so you will need to add quite a lot of honey.

Also I think adding 1 Tablespoon of regular sugar can help take the "edge" off. Obviously some people wouldn't want to do that but it isn't much.

I am making different batches, playing around and experimenting. It's fun! It may not be a health food but it isn't so unhealthful as regular ice cream, and I LOVE ice cream!