Stir together ground cinnamon and yogurt. Refrigerate until ready to serve.
Remove the stalks from the figs and halve them lengthwise. Drizzle over the maple syrup. Toss with your hands until well coated.
Lay the figs out cut-side up and without overlaps on a baking tray. Roast for 15-20 mins or until they’ve softened and caramelized around the edges.
Meanwhile make the candied walnuts: toast the walnuts in a dry pan until lightly browned. Add honey and salt and toss to coat. Keep tossing until the honey thickens and coats the nuts, about 5 mins.
Transfer to a plate to cool. Once completely cool, chop the nuts into rough shards. These can be made a few days ahead and refrigerated.
Roll the figs in the remaining honey, if any, on the tray. To serve, add the figs to your serving plate. Dot the cold cinnamon yogurt over the top. Scatter over the nuts. Tastes best with warm figs and cold yogurt.