Spoon yogurt onto several layers of heavy-duty paper towels; spread to 1/2-inch thickness. Cover with additional paper towels; let stand 15 minutes. Scrape yogurt into a small bowl, using a rubber spatula. Add honey and cinnamon; stir well. Spread yogurt mixture evenly over 2 muffin halves.
Slice apple crosswise into thin rings; place 1 ring over yogurt mixture on each muffin half, reserving remaining apple.
Sprinkle cheese over apple on muffins; top with bacon and remaining 2 muffin halves.
Coat a nonstick skillet with cooking spray; place over medium heat until hot. Add sandwiches; cook 2 minutes on each side or until golden. Serve with remaining apple slices.