Preheat your waffle iron. Whisk the flour, baking powder, salt, and cinnamon in a bowl.
In a separate bowl, whisk the milk, melted butter, eggs, sugar, and vanilla. Mix until completely combined.
Fold the wet ingredients into the dry until no dry flour remains. Do not overmix.
Place ¾ cup of batter into the waffle iron. Cook as per your machine’s directions until golden brown.
Remove the waffles onto a cooling rack. Place into a 300-degree oven to keep warm while you make the rest of the waffles.
To assemble, place 1 waffle onto a plate.
Place a scoop of ice cream into the center of your waffle. Top with apples, prepared salted caramel sauce, and pecans.
Serve immediately.