In a medium saucepan, prepare syrup. Bring the sugar, water, lemon juice and zest to a boil. Lower to a simmer and cook for 10 minutes.
Poach apricots or peaches until tender. (Tip: if you use peaches, remove the skin.) Let them cool in the syrup.
To prepare raspberry sauce, in a blender, combine the raspberries, sugar and lemon juice. Process to a puree.
Remove fruits from syrup.
To serve: In a small bowl, place a scoop of vanilla ice cream, place the fruit on top, and cover with raspberry sauce. Garnish with whipped cream and toasted almonds.