Add the apple cider, brown sugar, pumpkin pie spice, vanilla, and cinnamon sticks to your slow cooker. Cover and cook on low for 3 hours.
After 2.5 hours, stir in ½ cup caramel sauce. Cover and allow the flavors to mingle for remaining 30 minutes.
Remove and discard cinnamon sticks. To serve, ladle the hot cider into mugs and top with maple whipped cream and drizzle with additional caramel sauce.