Heat oven to 350°F. Heat balsamic vinegar in a small pot over medium heat until simmering. Reduce heat to low and cook until vinegar thickens and can coat the back of a spoon, 10 to 15 minutes. Cool to room temperature (it will continue to thicken while cooling).

Prepare the figs. Working from top to bottom, slice three-quarters of the way into each fruit, turn the fruit 90 degrees, then slice in the same manner to create an X.

Whip goat cheese and bacon together with a hand mixer or whisk. Transfer to a pastry bag or a plastic bag with one corner snipped off. Pipe mixture into prepared figs. Arrange stuffed figs on a parchment-lined baking sheet.

Bake figs until warm, 8 to 10 minutes. Serve drizzled with balsamic glaze and garnished with extra bacon.