Here, dried figs are simmered in just enough liquid so they soften into a thick jam. Try stirring the leftover compote into your yogurt or oatmeal the next day.
Combine figs, honey, lemon juice, orange juice, water, 1/2 teaspoon rosemary, salt and pepper in a small saucepan. Bring to a simmer over medium-high heat. Reduce heat to maintain a simmer, partially cover and cook, stirring occasionally, until slightly thickened, about 15 minutes. Transfer to a large heatproof bowl and spread into an even layer to speed cooling. Let cool to room temperature, about 15 minutes.
Meanwhile, preheat oven to 375 degrees F.
Place baguette slices on a rimmed baking sheet and brush the tops with oil. Bake until crisp and light golden, 8 to 10 minutes.
Spread the crostini with goat cheese and top each with about 2 teaspoons compote (reserve the rest for another use). Garnish with lemon zest, the remaining 1/2 teaspoon rosemary and more honey, if desired.
To make ahead: Refrigerate compote (Step 1) for up to 1 week.