Even if you don't wan't to go for the Japenese espalier method, you can still keep a conventional fig tree small(either in ground or potted) by selective pruning at the end of the growing season(in addition some growers even do a summer pruning on their trees.) No matter how vigerously my fig tree grows, I still prune it back to about 5ft. at the end of the season. This enables me to do all the work necessary on the tree without useing a ladder(this includes harvesting the figs, and any detail pruning that I want to do.)
I once heard a professional grower say: "It is easier to keep a small tree small then it is to make a large tree small." So start early in the life of the tree, and keep at it each year.