Layer a baking dish of your choice (preferably square or rectangle) with graham crackers. Make sure every corner is filled.
In a chilled bowl, whip heavy cream to soften the texture. Use a handheld mixer for easier whipping. Mix the cream while slowly adding condensed milk. Whip until mix texture is firm.
Layer the graham crackers with mixed cream and place another layer of sliced mango and peaches. Repeat twice by adding another layer of graham, mixed cream, sliced mangoes, and peaches.
Cover the baking dish with plastic wrap and place in the fridge for at least 4 hours—better if chilled overnight. To achieve ice cream texture, let it cool in the freezer. Once chilled, slice and serve.