Most of the nouns ending in -o form the plural with -s.
When you have a vowel before the ending -o, the plural is always with -s: radio-radios, studio-studios, zoo-zoos
When you have a consonant before the -o, there is not a rule that helps you. You already have to know how it's the plural form. Most of the words use only the -s but in some cases the plural is made with -es (hero-heroes, tomato-tomatoes..). Sometimes you can use either the -s or the -es without any distinction, the two forms are acceptable (motto-mottos-mottoes, volapcano-volcanos-volcanoes, halo-halos-haloes).
Your word, "mango", belongs to the last category, so you can you both forms to make it plural (mangos-mangoes).