In a mixing bowl, combine milk, yogurt, chia seeds, honey, and vanilla extract. Whisk well to combine.
Cover the mixing bowl with a lid or plastic wrap and refrigerate for at least 2 hours or overnight to allow the chia seeds to expand and thicken the mixture.
Once the chia seed pudding is set, remove from the refrigerator and stir well.
Add cubed mango to a blender or food processor and blend until smooth.
To assemble, spoon some of the mango puree into the bottom of a serving dish or glass. Top with a layer of the chia seed pudding mixture, then another layer of mango puree.
Repeat layers as desired.
Top the final layer with granola or other desired toppings.