Preheat the oven to 375°F.
Cut the figs in half and remove the stems.
In a small bowl, mix the goat cheese, rosemary, and honey until well combined.
Fill each fig half with a small spoonful of the cheese mixture.
Wrap each fig half with a half slice of bacon, securing it with a toothpick.
Place the bacon-wrapped figs on a baking sheet lined with parchment paper.
Bake for 15-20 minutes or until the bacon is crispy and the figs are slightly caramelized.
Serve warm.