Preheat oven to 375F.
Peel the skin from the top third of the apples. Using a melon baller, scoop out a cavity for stuffing and remove the cores. Dress the apples with a little lemon juice and trim up the bottoms if necessary so the apples sit upright.
Combine the stuffing ingredients in a small bowl then overfill the apples, mounding the cereal mixture up a bit. Bake until bubbly and tender but not mushy, about 20 minutes. Top with small scoops of vanilla ice cream.