A thorough investigation is presented of the magnetic and structural properties of Mn-doped Bi2Se3 topological insulators grown by molecular beam epitaxy on top of insulating BaF2 (111) substrates. The magnetic properties have been studied in the temperature range from 2 K to 300 K in magnetic fields up to 7 T. The systems were further characterized by means of high-resolution X-ray diffraction, electron-microprobe analysis, and X-ray photoemission spectroscopy. Samples with the atomic concentration of Mn up to about 0.06 exhibit an almost perfect crystalline structure while, for higher Mn concentrations, diffuse scattering from defects is observed. Photoemission results suggest a localized non-metallic Mn 3d5 ground state which is weakly or intermediately coupled to the Bi2Se3 environment. The exchange interaction between the Mn moments leads to a ferromagnetic phase at low temperatures with a roughly linear relation between the Curie temperature and the atomic concentration of Mn.