1. Combine first 4 ingredients in a medium saucepan over medium heat; simmer 15 minutes or until apples are tender and mixture thickens. Remove from heat; let stand 5 minutes. Stir in vanilla.
2. Spoon 1/4 cup apple mixture into each of 8 (8-ounce) parfait glasses. Top each with 2 tablespoons granola, 1/4 cup ice cream, 1/4 cup apple mixture, and 2 tablespoons granola. Serve immediately.