Preheat oven to 400 degrees.

Remove pork from the refrigerator 1/2 hour before cooking.

In a small bowl mix together the garlic, rosemary, Dijon mustard, maple syrup, salt, and a few healthy cracks of black pepper from a pepper grinder. Use your hands to coat the 2 tenderloins with the marinade. If you are marinating the pork a few hours ahead of time, wrap and refrigerate it until 1/2 hour before you are ready to cook.

Heat 2 teaspoons of the oil over high heat in an oven-proof skillet large enough to comfortably accommodate both tenderloins. Add the meat to the pan and cook on all sides until nicely browned. This will take a few minutes per side.

While the meat is browning, toss the figs in a medium bowl with the remaining 1 teaspoon of oil, 1 teaspoon of the balsamic vinegar and a pinch of salt. Once the meat is browned, add the figs to the pan, nestle the two rosemary sprigs in there and put in the oven.

Cook until done. The time will vary depending on the thickness of the tenderloin and how you like your meat. Test for doneness by inserting an instant-read thermometer in the center of the thickest part of the tenderloin. For pinker tenderloin, remove it at 140 to 145 degrees degrees. For more well done, cook it to 150 to 155 degrees. This will take 20 minutes, give or take a few.

Remove the pan from the oven and transfer the meat to a carving board. Let it rest for at least five minutes. Cut the meat crosswise into 1/2-inch thick slices and arrange on a platter with the figs. Add the dripping from carving the meat to the pan along with the remaining 2 teaspoons of balsamic vinegar and stir it together. Drizzle these pan drippings over the meat and figs, season with more salt and fresh black pepper. Serve immediately.