Let's cook.
If using frozen lucuma pulp, thaw it completely in the refrigerator.
In a medium bowl, combine the lucuma pulp, sweetened condensed milk, and vanilla extract. Mix until well combined and smooth.
In a separate, chilled bowl, whip the cold heavy cream and powdered sugar with an electric mixer on high speed until stiff peaks form, about 3-5 minutes.
Gently fold about one-third of the whipped cream into the lucuma mixture to lighten it.
Carefully fold in the remaining whipped cream until no streaks remain, being careful not to deflate the mousse.
Divide the mousse among 4 serving glasses or ramekins.
Chill the mousse in the refrigerator for at least 2 hours, or until set.
Before serving, sprinkle each mousse with a pinch of ground cinnamon.
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