Rinse the quinoa thoroughly under cold water using a fine-mesh strainer to remove any bitterness.
In a medium saucepan, combine the rinsed quinoa with 2 cups of water. Bring to a boil over medium-high heat.
Once boiling, reduce heat to low, cover, and simmer for about 15 minutes, or until the water is absorbed and the quinoa is fluffy.
While the quinoa is cooking, peel, core, and dice the apples into small pieces.
In a separate small saucepan, combine the diced apples, 1/4 cup water, 1 teaspoon cinnamon, and 1 tablespoon maple syrup. Cook over medium heat for about 5 minutes until the apples are slightly softened but still have some texture.
Once the quinoa is cooked, fluff it with a fork and let it sit uncovered for a few minutes.
Transfer the quinoa to a large mixing bowl and add the cooked apples, remaining cinnamon, maple syrup, vanilla extract, salt, and almond milk. Stir to combine thoroughly.
Divide the mixture into serving bowls. Top with chopped nuts, dried cranberries (if using), and an extra sprinkle of cinnamon.
Serve warm with additional almond milk or a drizzle of maple syrup if desired.