Both can be correct. It depends on quite what you are intending to convey and the context surrounding the statement.
The first one shows two coupled actions with equal priority in the narrative. The semi-colon couples them closer than if they were two sentences, but the comparative effect depends strongly on the surrounding text, such as where they are in the paragraph, how big or small the paragraph is, and what else is being described.
The second example, using the colon, shows a more direct relationship between the clauses. They are not equal in this construct, but dependant. The second clause is the focus of the sentence, but again, the effect still depends on the surrounding text. Your second example would work well at the end of a passage where the apple is an important item and that it tasted good was a satisfying resolution.