Figs are one of the few fruit trees that can be "trained" into whatever you desire the final plant to look like. Single-stem, standard tree forms, multi-stem bushes, espalier, etc.... easy as pie! However...it is a work in progress if starting from scratch. An added bonus: figs will sprout on older wood from dormant buds, when pruned hard...and then, will set fruit on new wood. So after a severe chop, you still can have figs if your season is long enough to ripen the late forming figs.
Learn, and master some basic pruning techniques that are shown in the above diagrams. Rub out all buds that will send a branch growing into the wrong/undesired directions. Need a branch to grow into a certain position? Go to Home Depot and buy some plastic covered #12 - #14 copper wire, and wrap the branch with this wire, like the Bonsai-growers do. Then -if the branch is thin enough- bend the wire-wrapped branch into a new, position, and leave it alone for a season. The wood will take a new set, and when the wire is removed the branch will stay in its new position. I do it all the time....but I do it on new, or, easily bent branches. If you try this technique on old wood, you will crack the branch! I even use Nylon twine to tie branches into different, "better", positions. Bonsai books are loaded with these basic training techniques, and are adaptable for fig tree culture.
Once the basic framework of branches has been established, all you need to do is rub out unwanted buds to maintain the shape. All my trees look like the above containerized trees, but only picture all the branches growing out from the top of a 4-5 ft. main-stem. None of my trees are taller than 6-7 ft. Harvesting figs is just easier when trees are kept shorter, and the sun can reach all the figs for earlier ripening.
Have fun. It's easy.
Frank