Preheat oven to 425°F. Grease & line 12 muffin tins with muffin liners.
In a standing mixer with paddle attachment, cream mascarpone, butter, and brown sugar for 2 minutes. Add in eggs, orange zest and juice, and vanilla extract, mixing until combined.
Remove from mixer. With a large spoon, fold in flour, baking powder, baking soda, and salt, stirring until almost combined. Fold in figs.
Scoop batter evenly into muffin trays. Bake at 425°F for 5 minutes, then turn the oven down to 350°F and bake for an additional 15 minutes.
Remove muffins from oven and allow to cool slightly before glazing.
To make glaze, heat mascarpone and powdered sugar in a microwave-safe bowl for 10-15 seconds. Whisk until pasty consistency is reached. Depending on your mascarpone, add in 1-2 teaspoons of milk to thin it out. Place back in microwave for 10-15 seconds to heat up (it will get thinner). Top muffins with glaze!