Sprinkle gelatin powder over cold water in a small bowl and let hydrate for about 5 minutes.

In a saucepan over low heat, combine passion fruit pulp, sugar, and water. Stir gently until sugar dissolves and mixture is warm, about 3–5 minutes.

Remove from heat and add bloomed gelatin. Stir until dissolved and cool to room temperature.

Whip cold heavy cream using an electric mixer at medium speed until soft peaks form, about 3-5 minutes.

Gently fold in sweetened condensed milk into the whipped cream using a spatula.

Gradually fold cooled passion fruit mixture into the whipped cream, using a spatula in a circular motion.

Spoon the mousse mixture into serving glasses or ramekins, cover with plastic wrap, and refrigerate for at least 3 hours.

Garnish with fresh passion fruit pulp and mint leaves before serving.