Preheat oven to 350°F and grease a 9x6 baking dish. Set aside.
In a large bowl, toss sliced apples with brown sugar, white sugar, flour, lemon juice, vanilla, and spices (cinnamon, ginger, cardamom, cloves).
Pour the apple mixture into the prepared baking dish.
In a separate bowl, whisk flour, baking powder, salt, and sugar.
Add milk, melted butter, and vanilla to the dry ingredients, then mix until smooth.
Pour the topping over the apples, leaving some gaps for the filling to peek through.
Bake for 40-45 minutes, until the top is golden and the filling is bubbly. Serve warm with vanilla ice cream.