In a saucepan, combine the sugar and a splash of water over medium heat. Cook until the sugar melts and turns a golden caramel color.

Slowly add the milk, stirring continuously until the caramel dissolves into the milk. Be cautious, as the mixture may bubble.

Remove from heat and let cool slightly. Stir in the heavy cream, caramel sauce, vanilla extract, and salt. Mix until smooth.

Pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions.

If you don’t have an ice cream maker, pour the mixture into a shallow dish and freeze for 1 hour. Stir vigorously to break up ice crystals, then return to the freezer. Repeat this process every 30 minutes for 4 hours until creamy and frozen.

Scoop the ice cream into bowls or cones. Drizzle with extra caramel sauce for garnish.