Step 1: Make the Caramel Sauce

1. In a saucepan over medium heat, combine sugar and water. Stir gently until the sugar dissolves, then stop stirring and let it cook until it turns a deep amber color.
2. Carefully whisk in the warm heavy cream (it will bubble up).
3. Stir in butter and salt until smooth. Remove from heat and let cool.

Step 2: Prepare the Ice Cream Base
4. In a separate saucepan, heat milk and heavy cream over medium heat until just warm (do not boil).
5. In a bowl, whisk egg yolks and sugar until pale. Slowly pour in the warm milk mixture while whisking continuously.
6. Return the mixture to the saucepan and cook over low heat, stirring constantly, until thick enough to coat the back of a spoon.
7. Strain through a fine-mesh sieve, then stir in vanilla extract and cooled caramel sauce.

Step 3: Chill & Churn
8. Cover and refrigerate for at least 4 hours (or overnight).
9. Pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions.
10. Transfer to a container, cover, and freeze for at least 4 hours before serving.

No-Churn Option:

• Whip 2 cups of heavy cream until soft peaks form, then fold in a mixture of condensed milk and the caramel sauce before freezing.