Here is a good reference for ICMP type messages:
http://www.iana.org/assignments/icmp-parametersTo block ICMP echo and echo reply (inbound I assume):
Router:
access-list 150 deny icmp any any echo
access-list 150 deny icmp any any echo-reply
access-list 150 permit ip any any <--add if you are allowing everything by default
int
ip access-group 150 in
PIX:
access-list outside_access_in extended deny icmp any any echo
access-list outside_access_in extended deny icmp any any echo-reply
access-group outside_access_in in interface outside
SNMP polling uses UDP 161
SNMP Traps use UDP 162