Welcome to the forum.
In general, as a fig ripens it will swell in size, change color, droop, and get soft. Different varieties will reach their peak flavor at different stages, so a lot depends on which varieties you have, and experimenting to find the stage of ripeness that tastes best to you. Both the varieties you mentioned are illustrated with photos on the Encanto Farms website in the "varieties" section; they will help you see how they should look both outside and inside when properly ripe.
I have a few small fig trees ripening fruit for the first time this year, so I'm trying to figure out the best stage for picking each variety. It will just take a little practice and a few mistakes. Good luck to you!