Adjust rack to upper-middle position and preheat oven to 500°F (260°C). In a medium bowl, whisk flour, 1 tablespoon sugar, and salt to combine. Whisk in milk, yogurt, eggs, and vanilla until just combined. Set batter aside.

Stir remaining 4 tablespoons sugar with cinnamon in a small bowl. Heat butter in a 10-inch nonstick oven-safe skillet over medium heat until melted. Increase heat to medium-high and add apples and cinnamon-sugar to pan. Cook, stirring frequently, until apples have softened and are beginning to caramelize, about 8 minutes.

Remove from heat, pour batter over apples and immediately place pan in oven. Reduce heat to 425°F (220°F) and bake until pancake is puffed, just set in center, and golden around the edges, about 15 minutes.

Cool pan on wire rack for 5 minutes. Place a large serving plate over the skillet and carefully invert pancake onto plate. Dust with powdered sugar and serve.