Preheat oven to 375 degrees F. Lightly coat a baking dish with olive oil.
Remove stalk from figs and cut an X in the top. Push a piece of Camembert into the top of each fig, then push a basil leaf on top of cheese.
Lay bacon on a board and stretch slices with the back of a knife. Wrap a piece of bacon around each fig, drizzle a little oil over the figs and season with salt and pepper.
Space figs evenly apart on the oiled baking dish and place in oven for 10 to 15 minutes. Once cooked, remove from baking dish, deglaze dish with a splash of balsamic vinegar and pour over figs. Serve warm.
