Also note that a similar word, "stop", works similarly: "She stopped eating the apples" (Ŝi finis manĝi la pomon).
This can also be used with "to" + base form but that means something else! "She stopped to eat the apple" = Ŝi haltiĝis por manĝi la pomon (she stopped moving, or she stopped what she was doing before, in order to eat the apple).
Because you usually only have one conjugated verb (-as, -is, -os, -us, -u) per clause - any others are in the infinitive or participle forms.
The Esperanto infinitive works like both the English infinitive (Mi volas manĝi - I want to eat; Mi povas danci - I can dance) and the English gerund (the -ing form that acts liks a noun: Mi amas kanti - I love singing; Fumi estas danĝere - Smoking is dangerous).