Whisk passionfruit pulp, icing sugar, and vanilla essence together in a bowl until sugar dissolves using a fork or balloon whisk.
Beat cream with an electric beater until soft peaks form. Gently fold in yoghurt with a metal spoon. Add passionfruit mixture and fold until just combined.
Transfer the mixture into a 1L (4-cup) plastic container and seal tightly with a lid or foil. Freeze for 8 hours or until firm. Scoop into bowls to serve.