The 50-year-old Kiwi actor was convicted in 2018 of indecently assaulting six victims at his acting classes between 2011 and 2013.
He initially denied any wrongdoing and even posted a video of himself publicly performing a poem which seemingly referred to the allegations against him.
But the actor admitted his offences just a week before he was due to go on trial in the Auckland District Court.
The New Zealand Screen Awards winner's sentence was finished in early 2019.
In a post on the new play's Facebook page, Naufahu wrote about how he had realised he had "nothing to live for".
He was "at my lowest, covered in shame, isolated by guilt and humiliation, abandoned by friend and family alike", then added: "the only way forward seemed to be to take the way out".
He was persuaded to stay alive for the sake of his children.
He wrote fellow actor Pua Magasiva's suspected suicide last year hit him "like a baseball bat to the side of the head".
Magasiva died in May 2019, just two weeks after being convicted for assaulting his wife.
Naufahu wrote his death was the catalyst for the play.
He described the play as a "provoking, heartbreaking, heart making stage experience" and said he was "terrified to get back out there in front of people".
He hoped the play would encourage the audience to have the courage to talk to their loves ones.
"Then me and my mighty team would have done our job."
The wording of the post was criticised by Nicholas, who said there was no apology offered by Naufahu to his victims.
"For me it's all about the shame he brought on his family and on himself. There's no regard for the women he hurt, so that's really disappointing."
She said she was "saddened" the post had no reference to "survivors" of his offending.
"For him to move forward and do what he needs to do, not just for himself but actually for those that he harmed, he has to acknowledge to those women the harm that he caused, then look at writing a play around 'these are the consequences of my actions'."
Talking to the Herald, Naufahu said he was "devastated at the thought I might be causing more hurt at even attempting to make a positive stand".
"They can say what they feel and what represents them," he said. "Just as I am saying what I think needs to be heard better and what I hope can be accepted as now representing me.
"We all believe in the message. If we help just one other person who is suicidal, like I was helped, then bearing any negative criticism is something I am prepared for."
Naufahu said the message behind Elephant, which was confronting suicide, had to be brought "out of the darkness". It was imperative that those who were struggling still retained "hope".
"Because it is that hope, the hope that things can and will get better, that gets you through. That got me through it," he told the Herald.
The former TV star also said it was important that those who had "stuffed up, admit their mistakes, even serious ones, move on to try to do some good as a changed person".
"That's been my journey. I have done some bad things, which I regret, but in my life already I have done some good things too. I don't think I should stop doing the good things.
"If people out there want to find fault with that, I suspect they will find fault in anything I do. But I can't stand still scared of being judged. I don't think that is what anyone really wants. It's not what I would want for anyone else either."
Auckland Council manager of community places Kevin Marriott said the council was aware of concerns relating to the play, which is due to be held at the Māngere Arts Centre.
"We take these concerns seriously and would like to thank members of the community for raising this with us," he said.
They are working with the producers of Elephant to address the content of the play and "explore how viewers of the play may be appropriately supported by them".
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Where to get help
• HELP Auckland - call 0800 623 1700.
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• ACC Sensitive Claims Unit – call 0800 735 566 for access to services related to sexual abuse or sexual assault.
• Hey Bro helpline – call 0800 HeyBro (0800 439 276). 24/7 help for men who feel they're going to harm a loved one or whānau member.
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• Rainbow Youth: (09) 376 4155
• Helpline: 1737
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