Line a rectangle (16cm x 26cm base) shallow baking pan with baking paper, leaving a 2cm overhang on all edges.
Place ice-cream into large bowl and set aside to defrost slightly. Meanwhile, place raspberries and icing sugar into a bowl and crush with a fork to form a rough puree. Swirl puree through ice-cream. Transfer ice-cream to the prepared pan, press into pan and smooth top. Cover and freeze for 4-5 hours or overnight.
To serve, slice peaches and nectarines. Transfer ice-cream to a chilled tray. Top with peaches, nectarines and raspberries. Drizzle with passionfruit pulp and sprinkle with chocolate. Slice and serve immediately.