Cut oranges in half, remove fruit from each half.
Scrape shells clean with spoon.
Finely chop fruit, removing seeds and membrane; set aside.
Dissolve Jell-O in boiling water; add ice cream by spoonful, stirring until smooth.
Chill until mixture is slightly thickened, about 20 minutes.
Fold in chopped fruit.
Spoon into orange shells.
Chill until set, about 30 minutes.