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For the creme anglaise: Whisk together the egg yolks and sugar in a heatproof bowl, until pale and creamy.
Combine the milk and lemongrass in a saucepan over medium heat. Bring to a boil. Pour the boiling milk mixture over the egg yolk mixture, whisking constantly. Discard the lemongrass.
Set the bowl over a saucepan of simmering water (ensuring the base of the bowl does not touch the water) to make a double boiler. Whisk vigorously until the mixture thickens and the whisk leaves a ribbon trail, about 10 minutes.
Remove the bowl from the heat. Stir in the gelatin and cool over a bowl of ice.
Pour the mixture into 6 round bavarois molds. Place a raspberry and lychee into each, then add more mixture to cover the fruit. Freeze until set, 1 to 1 1/2 hours.
For the glaze: Combine 3 3/4 ounces water, the sugar, mango, glucose, lemon and pectin in a small saucepan over medium heat. Bring to a light simmer, and then cook until thickened, 10 minutes. Remove from the heat and cool.