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Combine sugar and water in a small-medium saucepan and bring to a simmer; stir until sugar dissolves.
Pour ¼ cup syrup over raspberries in a bowl.
Add peach chunks to remaining syrup in saucepan and bring back to a simmer, cook for 1 to 2 minutes, until they soften.
Let both raspberries and peaches cool in syrup.
In a blender or food processor, puree peaches and their syrup first, then stir in almond extract, if using.
Puree raspberries and place in a smaller spouted cup.
Pour a tiny splash of raspberry in the bottom of each popsicle mold, followed by a larger splash of peaches and dolloping in a little softened ice cream.
Repeat with remaining raspberry, peaches and ice cream.
Use a skewer to lightly marble the mixtures together.
Freeze popsicles according to manufacturer’s instructions.