Line a baking sheet with foil. Cut an “X” into top of each fig, slicing about 3/4 of the way down into the figs, keeping base of figs intact. Gently open up "X" in centre of fig and stuff with goat cheese and salchichon. Place on prepared baking sheet.
Preheat broiler. Stir together jam, vinegar and mustard; brush over figs and sprinkle with rosemary. Broil 2 to 3 min. until figs are tender and goat cheese is heated through. Serve immediately.
Substitute rosemary with thyme.
Substitute figs with pitted and halved small plums or apricots, scooping out some of the centre to create a well for stuffing.