Arrange fig halves, cut side down, in a single layer in an 8-inch square baking dish coated with cooking spray. Combine honey, juice, ginger, and vanilla, stirring with a whisk. Drizzle honey mixture over figs. Bake at 350° for 10 minutes; turn figs over. Bake an additional 2 minutes. Remove from oven; cool to room temperature. Combine orange sections and fig mixture, tossing gently.
Place cream in a medium 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 8 bowls; top each serving with about 2 tablespoons whipped cream. Garnish with mint leaves, if desired.