In a medium bowl, combine Bisquick mix and sugar.
In a small bowl whisk the eggs, vanilla, and milk.
Add the egg mixture into the medium bowl of dry ingredients and mix until smooth. The batter should flow easily but still hold some shape.
Heat 1-2" of oil in a large skillet to 350°-375°. (Pour a small amount of batter as a tester - you will see the edges of the batter bubble rapidly when the oil is ready.)
Pour the batter into the hot oil using a squeeze bottle, piping bag, or funnel cake pitcher. (I prefer to circle around a few times then zig zag in both directions.). Use about 1/6 of the batter per cake.
Fry for 1-3 minutes per side until the funnel cake is golden brown.
Drain the cakes on paper towels. Sprinkle with powdered sugar. Spoon some of the warmed apple pie filling on top. Then place a scoop of vanilla ice cream and drizzle with caramel sauce. Enjoy!