Put the passion fruit pulp and condensed milk in a food processor or blender. If using fresh passion fruit, just pulse a few times so that the mixture is well combined but you don't break up the seeds too much. If you are using seedless pulp, you can mix a bit longer. If the mixture has seeds, strain it through a fine strainer to remove seeds.
In a separate bowl, whip the cream to a semi-firm peak consistency. Fold in the passion fruit mixture so it is well distributed but try not to lose the air from the cream.
Divide the mixture into 3 serving glasses (or more, if you prefer smaller servings) and chill at least 1-2 hours. Top each with some fresh passion fruit pulp before serving.
Notes
You can use more passion fruit pulp for a stronger flavor and/or more condensed milk if you prefer it sweeter. If you prefer, you can leave the mixture in one bowl until ready to serve. It will keep a day or two in the fridge, covered.