You can publish your Figma frames directly to Axure Cloud with the Axure Cloud desktop app.
In Figma, select the frames you want to publish to Axure Cloud.
In the top menu, go to Plugins → Axure → Export Selection to Axure Cloud. You'll be taken to the Axure Cloud app.
In the Axure Cloud app, select the workspace and project you want to publish your Figma assets to.
Alternatively, select Create New Project in the Project dropdown.
Click Upload to publish your Figma assets.
Once the upload is complete, you'll be taken to the project's Overview screen, where you'll see a thumbnail for each frame.