Preheat the oven to 375 degrees F (190 degrees C). Combine flour, cinnamon, nutmeg, cloves, and salt in a small bowl.
Grease a pie pan or 8-inch square baking pan with cooking spray. Place apple slices in the prepared pan and sprinkle with flour mixture. Drizzle milk, maple syrup, and vanilla over top; toss to coat.
Bake in the preheated oven until apples are tender (not mushy), 25 to 30 minutes.