In a small bowl, whisk milk, eggs, Greek yogurt, canola oil, and vanilla extract together. Set aside.
Mix flour, granulated sugar, brown sugar, baking powder, and salt together.
Make a well in the center of the dry ingredients and pour in the wet ingredients.
Mix the batter until just combined.
Dollop half of the batter in the bottom of the springform pan, spreading into an even layer (batter will be thick).
Spread the apple filling evenly on top of the cake batter.
Dollop the remaining half of cake batter on top of the apples, spreading into an even layer (covering all of the apple filling).
Sprinkle crumb cake topping over the cake.
Bake for 28-32 minutes or until a cake tester comes out clean. (Tent a piece of non-stick foil over the top of the cake if the top is browning quicker than the center is baking.)
Allow to cool.
Serve warm or at room temperature.
Enjoy!