ADD boiling water to dry jelly powder; stir until completely dissolved. Add ice cubes; stir until jelly is slightly thickened. Remove any unmelted ice. Refrigerate 10 min.
MEANWHILE, prepare pudding as directed on package.
DIVIDE cake cubes evenly among 6 parfait glasses or dessert cups; cover with layers of the partially set jelly, pudding, kiwi and oranges. Top each with 2 Tbsp. of the whipped topping. Refrigerate at least 15 min. before serving. Store leftover parfaits in refrigerator.
serving size = 1 parfait