Preheat the oven to 350°F and grease an 8x8-inch baking dish.
In a large bowl, whisk the milk, eggs, maple syrup, yogurt, vanilla, cinnamon, baking powder and salt until smooth.
Stir in the oats, then fold in 1 1/2 cups of the diced apples.
Pour the mixture into the baking dish and scatter the remaining apples and the walnuts over the top.
Bake 35-40 minutes, until the center is set and the edges are golden and a toothpick comes out mostly clean.
Cool 10 minutes, cut into 6 squares and serve warm. Refrigerate leftovers up to 4 days; reheat in the microwave.