Make the streusel: Mix flour, sugar, oats, salt, and cinnamon. Cut in butter until crumbly, then chill.
Prepare the cake batter: Beat butter, white sugar, and brown sugar until fluffy. Add eggs one at a time, then mix in vanilla.
Mix dry ingredients: Combine flour, baking powder, cinnamon, and salt. Add to the wet mixture, then mix in milk.
Assemble the cake: Spread batter into a greased 9-inch round pan. Layer apple slices on top.
Add streusel topping: Evenly sprinkle the streusel over the apples.
Bake: Bake at 350°F (175°C) for 40-50 minutes, until golden and a toothpick comes out clean.
Cool: Let the cake cool in the pan for 10 minutes, then transfer to a wire rack to cool completely.
Make and drizzle glaze: Whisk confectioners’ sugar, cinnamon, and milk until smooth, then drizzle over the cake before serving.