Pankaj, I am not sure about your question but I'll give it a try, firewall blocks any inbound traffic unless you explicitly allow it through access list, so if you want to block icmp from outside to inside on a specific host look through the access list and remove the acl permiting icmp.

If you are asking that firewall outside interface to not respond to pings issue at firewall CLI "icmp deny any outside" this will stop outside interface from responding to pings, let us know if this is not what you're looking for and we'll try to help.

HTH

Jorge