Combine all ingredients for the filling in a pan. Simmer over medium heat for 10 minutes or until apples are tender as preferred. Leave to cool slightly.
Whisk together flour, baking powder, and salt in a bowl.
Blend in egg, sugar, milk, and oil.
Lightly coat a waffle iron with cooking spray.
Slice each waffle in half and fill with the cooked apples.
Cut filled waffles into sticks.
Whisk together ingredients for the glaze in a bowl and drizzle over hot waffles.