I want to directly import the figma files XML into Glade. Is there a way by which we can do that.
No, there is no way to do that: Figma does not export to GtkBuilder UI files, and Glade (which is also unmaintained and bound to GTK3) does not support Figma files.
If you are not bound to Glade, you might want to consider looking at PenPot, Figma‘s open source competitor. I have read about efforts to import Figma files there.