Peel the kiwis using a spoon or a vegetable peeler, then cut them into small pieces. TIP: The easiest way is to cut off both ends, then use a spoon to go around the inside of the skin and pop out the fruit.
Place the kiwi pieces in a blender and purée until smooth. If there are too many seeds, you can strain it to make the final result smoother.
Whip the well-chilled heavy cream until stiff peaks form. Tip: Chill the bowl and whisk attachments for easier and more stable whipped cream.
In a bowl, combine the sweetened condensed milk, sugar, vanilla extract, and kiwi purée. Mix until smooth and homogenous.
Gently fold the whipped cream into the kiwi mixture, being careful not to deflate the cream. This will make the parfait light and airy.
Pour the mixture into molds or a larger container. Smooth the top, cover with plastic wrap, and place in the freezer for at least 6 hours or overnight.
Remove from the freezer 5-10 minutes before serving. Garnish with fresh kiwi slices (without the peel and leaves), and optionally add a dollop of whipped cream.
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