When a system undergoes a quantum phase transition, the ground-state wave function shows a change of nature, which can be monitored using the fidelity concept. We introduce two quantum Monte Carlo schemes that allow the computation of fidelity and its susceptibility for large interacting many-body systems. These methods are illustrated on a two-dimensional Heisenberg model, where fidelity estimators show marked behavior at two successive quantum phase transitions. We also develop a scaling theory which relates the divergence of the fidelity susceptibility to the critical exponent of the correlation length. A good agreement is found with the numerical results.