Stir up mascarpone until smooth. Mix together with yogurt. Add sweetened condensed milk, maple syrup, and whiskey. If desired, add additional sweetener to taste.
Place sliced figs in popsicle molds. Use the back of a spoon or chopstick to press figs to the sides of the mold.
Gently spoon yogurt mixture into popsicle molds. Insert wooden popsicle sticks. Freeze for at least 4 hour until popsicles are solid.
Notes
I used Straus Family Creamery European Style Plain Nonfat Yogurt (same as Trader Joe's European Style Yogurt)I use these popsicles molds from Amazon.