Raspberry Pi uses a Linux operating system, so you could ftp or scp the fig file to the raspberry pi. Mathworks has published a description of binary format of .mat files, and fig files are really just mat files; you could probably find a library of code to read the files.
However, I am having a hard time thinking of anything useful that you could do with the fig file on the raspberry. The representation of graphic objects is not documented so you would find it difficult to figure out what the data in the fig file represents.
There is no publicly known API for raspberry to be able to read MATLAB fig file graphics objects and do anything with them.
If the intention is to run a Guide GUI on the raspberry pi itself then there is no known way of doing that.
If you want to create user interfaces to run on the raspberry pi, you either need to program all of the graphics and user interface yourself (possibly calling upon published third party libraries), or else you need to code everything as a Simulink model restricting yourself to the interface blocks provided by Simulink for use with raspberry; those can then be Deploy To Hardware
