Stir honey, lemon juice, vanilla, cinnamon, 2 Tbsp. butter and 1/4 cup water in a medium skillet, and bring to a boil over medium-high heat. Stir in apples. Reduce heat to medium and cook, stirring often, until apples are tender and liquid begins to thicken, about 7 minutes. Remove from heat and stir in remaining 1 Tbsp. butter. Transfer to a bowl and let cool for 10 minutes.
Divide ice cream among 6 bowls. Top with apple mixture and serve immediately.