Combine quinoa, water/milk, and salt in a saucepan. Bring to a boil, then reduce heat to medium-low and cover.
Cook for 15-20 minutes until the liquid is absorbed and quinoa is fluffy.
While quinoa cooks, sauté diced apples with cinnamon and a splash of maple syrup until tender, about 5 minutes.
Stir the cooked apples, vanilla extract, and remaining spices into the quinoa.
Serve warm with your favorite toppings like chopped nuts, additional apple slices, or a drizzle of maple syrup.