Soak sauerkraut in cold water 10 minutes. Drain in a colander; press to remove excess moisture.
Heat a Dutch oven over medium heat. Coat pan with cooking spray. Add onion to pan; sauté 5 minutes or until tender. Stir in sauerkraut, apple, and next 6 ingredients (through bay leaf); bring to a boil. Cover, reduce heat, and simmer 30 minutes, stirring occasionally or until apple is just tender.
Place kielbasa on a baking sheet; cut several 1/4-inch-deep slits in each piece. Broil 8 minutes or until lightly browned, turning occasionally. Nestle kielbasa pieces into sauerkraut mixture; cover and simmer 15 minutes. Uncover; cook 5 minutes or until liquid almost evaporates. Discard bay leaf.