Jonathan Lucroy delivered a bases-loaded triple in the first inning and had four RBI overall to highlight a 12-hit attack.
Figaro (1-0) had appeared in relief 16 times this season before being placed in the Milwaukee rotation and this was easily the best of his three starts.
He allowed three hits, did not walk a batter and struck out four while picking up the third victory of his career and his first since 2009. Burke Badenhop allowed the lone Miami run in the ninth.
Two singles and a hit batsman loaded the bases in the Milwaukee first and Lucroy came through with a triple to right. He also drove in a run in the fifth with a sacrifice fly.
Jean Segura hit a solo homer in the third and Carlos Gomez also contributed a bases-loaded triple in Milwaukee's fourth-run sixth.
The loss went to Kevin Slowey (2-6), who allowed five runs on nine hits in five innings.