Add quinoa, apple juice and water to a small saucepan and heat over medium heat. Bring to a boil and cover.
Cook until the quinoa is soft, about 25 minutes.
Add the honey or maple syrup, cinnamon and milk to the saucepan. Mix well and set aside.
Place all the ingredients for the cinnamon apples in a separate pan and heat over medium heat.
Cook until the apples are soft, around 4 minutes. Add more water if needed.
Serve big bowls of quinoa topped with the cinnamon apples.