Benjamin Realty lists 33 homes for sale in Mansfield, MA right now, with a median asking price of $650,000 (from $219,900 to $1,850,000). 5 listings came on the market in the last 7 days. By type: 21 single-family homes, 9 condos and 3 multi-family homes. The median asking price per square foot is $361. Median prices by size: two-bedrooms $409,000, three-bedrooms $664,400 and four or more bedrooms $812,500.