Cover a baking sheet with foil. Cut figs in half and line on the baking sheet. Drizzle with honey and roast on 350°F for 25 minutes.
While figs are roasting, prepare the Brie. Remove it from its wrapper and place back in the round container. Using a sharp knife, make 4-5 slices in the rind. Cut the rosemary sprigs into one-inch pieces, and stuff in the slices. Place the Brie on a baking sheet lined with foil. Drizzle with the olive oil, honey, salt and pepper.
Once the figs are finished, preheat the oven to 425°F. When ready, place the Brie in the oven and bake for 10-12 minutes until the cheese is melted and slightly bubbling.
Remove the Brie from the oven. Take a sharp knife and slice around the edge of the rind to allow the cheese to come through. Place 3-4 figs on top to let the juices infuse into the cheese. Add another drizzle of honey if desired. Dip into the cheese with crackers. Slice up the remaining figs and eat with crackers (or bread) and melted Brie. Enjoy!