Preheat oven to 350°. Remove stems from figs. Cut an “X” in the top of each fig, about two-thirds of the way down.
In a small bowl, combine pecans, walnuts, 3 tablespoons agave nectar, cocoa, cinnamon and cloves; spoon into figs. Arrange in a 13x9-in. baking dish coated with cooking spray.
In a small bowl, mix pomegranate juice, lemon juice and remaining agave nectar; drizzle over figs. Bake, covered, 20 minutes. Bake, uncovered, 8-10 minutes longer or until heated through, basting occasionally with cooking liquid.