See Leviticus 1:3
"Burnt" offering is a mis-translation. Literally it's an ascension that brings us near to God. In the Ascension our representative dies for our sin, is given a reconfigured, glorified (fiery) body like the angels (who are flames of fire) and ascends into heaven to appear before God on our behalf. If Adam had tried to ascend back up into the garden he would have had to pass through the fiery blade of the cherubim which he could not do without being killed forever - so he needed a substitute to do it for him.
Jesus Christ dies as our sin offering and ascends to the Father, drawing us up to the Father with Him.