Preheat oven to 350F. Spray bundt pan (really well) with nonstick cooking spray (the kind that has the flour in it).
Mix up one packet of muffin mix according to packet directions (adding 1/2 cup milk) and stir until combined well. Batter may be lumpy.
Pour batter into the bottom of the bundt pan. Keep out that mixing bowl, you'll use it again in a minute.
Open can of apple pie filling. Take a sharp knife and make slicing motions to cut apples while still inside the can. You want them in about 1/2-inch size pieces.
Spread the pie filling evenly on top of the first layer of batter. Sprinkle with cinnamon.
Now, make the second packet of muffin mix according to package directions. Again, adding 1/2 cup milk and stirring until combine.
Pour this final layer of batter evenly on top of the apple pie filling layer.
Place baking pan in the center rack and bake for about 50-60 minutes. Allow cake to cool completely.
Once cake has cooled completely, whisk together powdered sugar with milk until smooth. Drizzle icing over cooled cake. Slice and serve.
Video
Notes
This can also be made in a 9 x 9 square baking dish if you don't have or don't want to use a bundt pan.
Can't find the Apple Cider muffin mix? Just use the Apple Cinnamon instead.