[3] In 1986, Figueroa Morales received a dispensation from his temporary vows and entered the diocesan seminary Jesús Maestro of the Diocese of Arecibo.
[2] On June 2, 1990, Figueroa Morales was ordained a priest by Bishop Ulises Aurelio Casiano Vargas of Mayagüez[b] for the Diocese of Arecibo.
In 1995, Figueroa Morales completed a licentiate in sacred theology at the Pontifical University of Saint Anthony (Antonianum) in Rome.
[8][9] Figueroa Morales received his episcopal consecration on December 27, 2019, from Archbishop Roberto González Nieves of San Juan, assisted by Archbishop Ghaleb Moussa Abdalla Bader, apostolic delegate to Puerto Rico, and Bishop Ruben González Medina of Ponce.
[12] His appointment followed Pope Francis' removal of his predecessor in Arecibo, Bishop Daniel Fernández Torres, the previous March.