1. Combine first 5 ingredients in a small saucepan; bring to a simmer. Simmer 3 minutes; cover, remove from heat, and let stand 15 minutes. Stir in orange sections.
2. Place cream in a small bowl. Beat with a mixer at high speed until soft peaks form. Add sugar and liqueur; beat at high speed until stiff peaks form. Divide fig mixture evenly among 4 bowls; top each serving with about 2 tablespoons whipped cream.