In a small saucepan, bring water to a boil. Add quinoa. Reduce heat; simmer, covered, 12-15 minutes or until liquid is absorbed. Remove from heat; fluff with a fork.
Meanwhile, place vinegar in a small saucepan. Bring to a boil; cook 1-2 minutes or until liquid is reduced by half.
In a small bowl, mix cooked quinoa, vanilla, cinnamon and salt. Layer half of quinoa mixture, half of honey, balsamic vinegar, half of figs and half of yogurt into four parfait glasses. Top with remaining quinoa mixture, honey, yogurt and figs.