Preheat the oven to 350°F (175°C). Grease and flour an 8-inch round cake pan.
In a small bowl, toss the sliced apples with lemon juice to prevent browning and set aside.
In a medium bowl, sift together the all-purpose flour, baking powder, baking soda, ground cinnamon, and salt.
In a large mixing bowl, whisk the granulated sugar and vegetable oil until well combined.
Add the eggs one at a time to the sugar and oil mixture, beating well after each addition.
Mix in the vanilla extract, yogurt, and milk until the batter is smooth.
Gradually add the dry ingredients to the wet ingredients, folding gently until just combined. Do not overmix.
Pour half of the batter into the prepared cake pan and spread evenly.
Arrange half of the apple slices over the batter in a single layer.
Pour the remaining batter over the apples and spread evenly.
Top with the remaining apple slices, gently pressing them into the batter.
Bake in the preheated oven for 35 to 40 minutes, or until a toothpick inserted into the center comes out clean.
Remove the cake from the oven and allow it to cool in the pan for 10 minutes.
Transfer the cake to a wire rack to cool completely.
Before serving, dust the top of the cake with powdered sugar.