Line a rimmed baking sheet with wax paper. Peel and finely chop the kiwi. Peel and thinly slice the banana. Cut the raspberries into halves. Finely chop the pistachios.
In a large bowl, stir together the yogurt, maple syrup, and vanilla. Spread in lined pan in an even layer (about ¼-inch thick). Top with kiwi, banana, raspberries, and pistachios, pressing gently into yogurt. Freeze until solid, about 4 hours.
Peel the wax paper from the bark. Working quickly, with hands, break the bark into smaller pieces and freeze until ready to serve. Serve straight from freezer.