If they succumb to gentle pressure, then yes, they're good to go.
Green or not, once they are soft, eat zem!
I like the not-so-ripe ones cut into quaters, stuff it in an oven dish, pour over it a mixture of
cinnamon (to taste)
boil on stove coupla minutes.
Pour over figs, cover and let sit in oven at 400F for 15-20 min.