Prepare the apples by removing the stems and inserting a craft stick into each one. Lightly coat a baking sheet with cooking spray.
Combine caramels and milk in a microwave-safe bowl. Microwave for 2 minutes, stirring halfway through. Allow it to cool for a moment before moving on to the next step.
Coat each apple swiftly in caramel sauce until fully covered. Transfer to the prepared sheet to firm up.