Combine first 9 ingredients in a small heavy saucepan. Bring to a boil; cook 25 minutes or until reduced to 1/2 cup. Discard peppercorns, rosemary sprigs, and thyme sprigs.
Spoon 1/4 cup sauce onto a dessert plate, and reserve remaining sauce for another use. Arrange figs and yogurt on top of sauce. Garnish with a fresh rosemary sprig, if desired.