In a medium saucepan over medium heat, combine the peeled and chopped apples, light brown sugar, and cinnamon. Cook for 8–10 minutes until apples soften and mixture thickens, then cool completely.

Combine vanilla wafer crumbs with melted butter in a mixing bowl. Mix until crumbs are fully coated and press evenly into plastic cups to form a crust.

Whisk instant vanilla pudding mix with milk in a large bowl until combined. Chill for 5 minutes. Fold in salted caramel sauce and heavy cream, whip until smooth and fluffy.

Fill each crust with the caramel mousse using a piping bag, layer with the cinnamon apple mixture, and drizzle additional caramel sauce on top.

Seal dessert cups with lids or plastic wrap and refrigerate for at least 30 minutes.