Wash and dry the apples, then place them on a cutting board. Scoop out the core from the top of the apple, leaving a well (Do not cut all the way through). Place them in a shallow baking dish. Stuff each apple with brown sugar, butter, and sprinkle with cinnamon.
Bake in preheated oven for 15 minutes, until sugar begins to caramelize and apples are tender. Remove from oven and serve with a scoop of vanilla ice cream or vanilla frozen yogurt. Top with a drizzle of caramel sauce if desired.