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Preheat oven to 350°F. Spray a 12-count muffin pan very well with non-stick cooking spray and set aside.
Add the oats, baking powder, cinnamon, and salt to a large mixing bowl and mix until well combined.
In a separate mixing bowl, whisk together the milk, eggs, maple syrup, and vanilla extract until fully combined. Add the dry ingredients into the wet ingredients and mix until well combined. Add the chopped apple and gently mix it in.
Evenly distribute the mixture between all 12 cavities in the prepared muffin pan. Bake at 350°F for 25-27 minutes, or until the tops of the oatmeal cups are lightly golden brown and firm. Remove from the oven and allow to cool in the pan for about 5-10 minutes, then remove the oatmeal cups and transfer to a wire rack to finish cooling.