Peel, core, and chop the apples into bite-sized pieces. Cook them in a medium saucepan with light brown sugar and cinnamon for about 10 minutes. Remove from heat and let cool slightly.

In a mixing bowl, combine the vanilla wafer crumbs with melted butter. Press the mixture into the bottom of 2-ounce dessert cups to form a firm crust. Chill in the refrigerator.

Whisk together the instant vanilla pudding mix and milk until smooth. Let it thicken for 5 minutes, then fold in the salted caramel sauce until fully incorporated.

Whip the heavy cream in a separate bowl until soft peaks form. Fold the whipped cream into the caramel mousse gently to maintain an airy texture.

Pipe or spoon an even layer of mousse over the crusts in the dessert cups. Layer the cooled apples on top and drizzle with additional caramel sauce.

Refrigerate the assembled cups for at least 30 minutes before serving to help the flavors meld together.