Combine 1/4 cup water, sugar, and next 3 ingredients in a small saucepan; bring to a boil over medium heat, stirring constantly. Remove from heat; cover and let stand 10 minutes.

Sprinkle gelatin over the remaining 3 tablespoons water in a small bowl. Let stand 10 minutes.

Uncover saucepan, and bring sugar mixture to a boil over medium heat. Reduce heat to low; add gelatin mixture, and cook 5 minutes, stirring until gelatin dissolves.

Remove from heat; pour into a large metal bowl. Place bowl over a large ice-filled bowl; stir mixture 5 minutes or until chilled and thickened. Remove metal bowl from ice. Add yogurt and vanilla, stirring until well blended.

Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon into a freezer-safe container; cover and freeze at least 1 hour. Yield: 9 servings (serving size: 1/2 cup yogurt ice and 4 fig slices).

Per serving: 168 Calories; 1g Fat (7% calories from fat); 4g Protein; 36g Carbohydrate; 5mg Cholesterol; 63mg Sodium