1 Soak the gelatin in cold water.
2 Line a casserole dish (or other wide, flat dish with 600-ml/approximately 2.5-cup capacity) completely with plastic wrap.
3 Cut vanilla bean in half lengthwise. Heat apple juice, vanilla bean, cinnamon stick and sugar while stirring until the sugar has completely dissolved.
4 Remove the pot from the stove. Add gelatin to juice mixture and stir to dissolve.
5 Pour the juice out through a sieve into the prepared pan and refrigerate for 4-6 hours until solidified.
6 Just before serving, combine yogurt, milk, maple syrup and ground cinnamon in a bowl and whisk until frothy with a hand mixer, a milk frother or a small whisk.
7 Turn the jelly out from the mold. Remove plastic and cut into cubes. Serve with cinnamon sauce and garnish with thinly sliced fresh mint.