In a large bowl, whisk milk and pudding mix for 2 minutes. Let stand for 2 minutes or until soft-set.
In another bowl, combine the pie filling, toffee bits, brown sugar and cinnamon.
In a 4-quart trifle bowl or glass serving bowl, layer half of the cake cubes, pudding, apple mixture, ice cream topping, whipped cream and walnuts.
Repeat layers; drizzle with additional ice cream topping.
Chill until serving.