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In a medium saucepan, combine sugar and gelatin. Stir in pineapple (or orange) juice. Cook and stir until sugar and gelatin dissolve. Remove from heat.
Place chopped fruit in a blender or food processor; cover and blend or process until pureed.
In a large bowl, stir together pureed fruit, gelatin mixture, buttermilk, lime (or lemon) zest and lime (or lemon) juice. If desired, add food coloring to tint desired color (green for kiwi, yellow for mango, or pink or orange for papaya). Cover and chill mixture about 4 hours or until chilled completely.
Transfer mixture to a 4- to 5-quart ice cream freezer; freeze according to manufacturer's directions. If desired, ripen for 4 hours. If desired, garnish with additional mango, kiwi or papaya.