Arrange the fig halves, cut-side up, in a baking dish with the cinnamon. Drizzle over 1 tablespoon of the agave nectar and the brandy.
Bake in a preheated oven, 190°C (375°F), Gas Mark 5, for 15–20 minutes until soft. Sprinkle over the raspberries and turn to coat in the juices, then leave to cool slightly.
Mix the remaining agave nectar with the orange rind and soya yogurt and serve with the figs and raspberries.