Cook the apples: Peel and quarter the apples, then remove the cores, cut into small cubes and add into a medium pot. Add all the other ingredients (spices, maple syrup, lemon juice, and vanilla extract). Cook the apples over medium heat until soft (but not mushy, they should be still slightly crunchy), for about 5-10 minutes (the cooking time will vary depending on size and the variety of apples). A thick syrup should form around the apples (if it's too thin cook the apples a little longer over high heat).