Place figs in small (about 1-cup) shallow baking dish that is just large enough to hold them; add water and orange peel and bake at 375°F.
until figs are soft to the touch but still hold their shape, about 15 minutes.
In small saucepan melt chocolate over low heat, stirring frequently; set aside and keep warm.
Cut each fig in half.
For each portion serve 2 fig halves with 3 ounces frozen dessert; pour half of the melted chocolate and any liquid remaining from cooked figs over each serving.