Mix the milk, flour, eggs, vanilla extract, and salt with an immersion blender until smooth. Heat a greased rectangular frying pan over medium heat, pour some of the crepe batter into the pan, and cook the first crepe. Partially wrap the first crepe around a rolling pin, leaving the end of the crepe in the pan. Pour more crepe batter into the pan and over the end of the first crepe, and let the second crepe cook. Gently roll the rolling pin so that the second crepe is partially rolled up, making sure to leave the end of the crepe in the pan. Repeat with the rest of the crepe batter until you have 1 large crepe roll on the rolling pin.
Peel the mangoes and cut them into thin slices. Also remove the pulp from the core as you will need it later for the mango puree.
Beat the cream cheese, powdered sugar, and lemon juice with a hand mixer until smooth. Roll a section of crepes off of the rolling pin. Place a tall, greased drinking glass on top of the open end and roll the glass up in the crepes at least 2 times until it is secure. Spread a layer of the cream filling over the section between the crepes on the rolling pin and the crepes on the glass and cover it with mango slices. Roll the glass up in the coated section and continue spreading cream filling and mango slices over the crepes until you have worked your way through the entire crepe roll.
Place the crepe cake upright on a cake plate with the glass still in the middle. Coat the entire crepe cake with the remaining cream filling and refrigerate for 1 hour.
Add the orange juice, sugar, mango pulp, and remaining mango slices to a saucepan over medium heat. Bring to a boil, puree the mixture with an immersion blender, and let cool.
Carefully remove the glass from the crepe cake and fill the hole with about ⅓ of the mango puree.
Combine the remaining mango puree, sweetened condensed milk, and mango jam in a saucepan over medium heat and cook to 150°F. Squeeze the liquid out of the soaked gelatin sheets and stir them into the mixture until dissolved. Remove the pan from the heat, let the glaze cool a bit, and then pour it over the entire crepe cake.
Refrigerate the mango crepe cake for a few hours, or preferably overnight. Garnish with diced mango and chocolate shavings before serving.