Place bacon strips in a cold non-stick (or cast-iron) skillet and cook slowly over medium to medium-low heat until bacon is crispy. Remove the strips when crispy and place on a paper towel-lined plate. Pour off all but about a tablespoon of the bacon fat left in the skillet.
Add the maple syrup and turn up the heat to medium high, letting the bacon fat and maple syrup bubble. Add the figs, cut side down, and cook for about 5 minutes until the figs are soft and their cut sides are glossy and caramelized.
Remove the figs from the skillet and arrange on a plate. Crumble the bacon strips and press some bacon into the caramelized surface of each fig. Return the skillet to the stove over medium heat, adding the balsamic vinegar and cook until the mixture is reduced and glossy.
Pour the vinegar mixture over the figs. Spoon yogurt or creme fraiche on top and serve immediately.
Recipe by Grits and Chopsticks at https://www.gritsandchopsticks.com/the-gravy-train/2017/11/caramelized-figs-with-yogurt.html