For the poached apples: place all the ingredients in a pot and bring to a boil. Remove from heat and let steep. Remove the lemon zest and sprigs of rosemary. Let cool.
For the maple whipped cream: place the whipping cream and maple syrup in a bowl. Whisk until soft peaks form.
Place a spoonful of the poached apples in the bottom of a red wine glass. Add 30 ml (2 tbsp.) of the rosemary and lemon syrup and top with the hot cider. Garnish with the maple whipped cream and a sprig of rosemary.