From the sed manpage:

-i extension
Edit files in-place, saving backups with the specified extension.
If a zero-length extension is given, no backup will be saved. It
is not recommended to give a zero-length extension when in-place
editing files, as you risk corruption or partial content in situ-
ations where disk space is exhausted, etc.

Aha, it wants to save a backup file. So I changed my command to:
sed -i '.bak' 's/apples/oranges/' file.txt

The solution is to send a zero-length extension like this:

sed -i '' 's/apples/oranges/' file.txt

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