In a baking sheet lined with parchment paper, lay figs in a single layer with cut side facing up. Drizzle maple syrup over figs. Roast the figs in the oven for 20 minutes until the figs are softened and caramelized.
Let the figs cool to room temperature. Transfer them to a processor and blend until smooth. Set aside until ready to use.
To make the crumble, in a medium prep bowl, combine flour, sugar, butter, salt, and cinnamon. Use your fingers and rub the mixture together until it resembles breadcrumbs. Refrigerate the crumble for 15 minutes until chilled.
When ready to bake, preheat the oven to 350 degrees F.
Spread the chilled crumble mixture on a baking sheet lined with parchment paper. Bake for 12-15 minutes or until golden brown.
Transfer the baking sheet to a wire rack and let it cool completely before breaking it into small pieces. Store the crumble in a tight-lidded container until ready to use.
Ice cream base
In a medium heatproof bowl, whisk the yolks just to break them up and whisk in ¼ cup sugar. Set aside.
In a heavy non-reactive saucepan, combine cream, milk, salt and ¼ cup sugar.
Put the pan over medium heat and let the mixture boil gently to bubbling just around the edges (gentle simmer). Reduce the heat to low.
Carefully measure out ½ cup of hot cream mixture. Whisk in the hot cream mixture while whisking the eggs constantly. Continue tempering the eggs by adding another ½ cup of hot cream to the bowl with the yolks.
Pour the cream-egg mixture back to the saucepan and cook over medium-low heat, stirring constantly until it is thickened and coats the back of a spatula, about 12-15 minutes.
Strain the base through a fine-mesh strainer into a clean container.
Pour the custard in a food processor, add goat cheese, and blend until smooth.
Pour the mixture into a 1-gallon Ziplock freezer bag and submerge the sealed bag in an ice bath until cold, about 30 minutes. Refrigerate the ice cream base for at least 2 hours or overnight. I like to refrigerate the base overnight for the most flavor.
When ready to churn the ice cream, fold in the pureed figs and 1/2 cup of crumble into the ice cream base.
Pour the ice cream base into the frozen canister of your ice cream machine and follow the manufacturer’s instructions.
Spin until thick and creamy about 25-30 minutes.
Pack the ice cream into a storage container, press a sheet of parchment directly against the surface and seal with an airtight lid. Freeze in the coldest part of your freezer until firm, at least 4 hours.
When ready to serve, scoop ice cream into bowls. Top with extra crumble. (optional)
The crumble and roasted figs can be made ahead and stored in the fridge for 48 hours.