In a glass bowl, place the milk and gelatin -- mix well and microwave until milk begins to boil and gelatin is dissolved. Let cool.
In a blender, place the guavas and syrup and blend until smooth. Strain the pureed guavas to remove the seeds and return to blender. Add the dissolved gelatin with milk, condensed milk and vanilla. Blend at high speed for one minute.
Distribute guava mixture in eight martini glasses and chill in refrigerator until set. Can be served with fresh whipped cream and garnished with a fresh mint leaf.
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