Prepare the Cinnamon Apples:
In a medium saucepan, combine the peeled and chopped apples, light brown sugar, and cinnamon. Stir and cook over medium heat until the apples soften and the liquid thickens, about 10 minutes. Set aside to cool.
Make the Crust:
In a mixing bowl, combine the vanilla wafer crumbs with the melted butter. Stir until the mixture is fully combined.
Portion the vanilla wafer mixture into 28 small (2-ounce) plastic cups, using a small cookie scoop for ease. Use the bottom of one of the plastic cups to press the crumbs down to form the crust.
Prepare the Caramel Pudding:
In a large mixing bowl, whisk together the instant vanilla pudding mix and milk. Let the mixture chill for 5 minutes until it begins to set.
Add the salted caramel sauce to the pudding mixture. Use an electric hand mixer on medium speed to blend the caramel into the pudding until smooth.
Whip the Cream:
Pour the heavy cream into the pudding mixture and whip with an electric hand mixer for 3-5 minutes, until the mixture becomes thick and creamy. Transfer the caramel mousse to a piping bag.
Assemble the Dessert Cups:
Pipe the caramel mousse into the prepared cups, over the vanilla wafer crust. Spoon the cinnamon apples over the mousse layer in each cup. Drizzle additional caramel sauce over the top if desired.
Chill and Serve:
Seal the dessert cups with lids and refrigerate for at least 30 minutes before serving. These dessert cups can be enjoyed immediately or stored in the refrigerator for up to 2-3 days.