Pre-heat the oven to 400 and get out an 8 x 8 baking tray. Combine the figs, honey, balsamic vinegar, brown sugar, cinnamon, lemon zest and salt in the baking tray and stir it all together well to make sure the figs are coated. Roast the figs for 30 minutes, until completely tender. Take them out and let them cool completely. There will be a thick layer of flavorful juice to go with them!

While the figs cool, set up a food processor or blender and combine the yogurt, almond milk and vanilla in its bowl. Add in the figs with all of the juices once they are cooled. Run the processor until it is a thick puree. Fill 6 large popsicle molds to the brim with the mixture and get them into the freezer to set for at least 5 hours. The mixture could also be molded into paper cups with popsicle sticks inserted. Once they are set enjoy them for a cooling treat!