In a medium saucepan, combine the cream, milk, sugar and salt. Heat over medium heat until the mixture is steaming and just beginning to bubble around the edges.
In a medium bowl, whisk together the egg yolks.
Slowly pour about 1/2 cup of the hot cream mixture into the egg yolks, whisking constantly.
Pour the egg yolk mixture back into the saucepan with the remaining cream mixture and cook over medium heat, stirring constantly with a wooden spoon or heat-resistant spatula until thickened and an instant-read thermometer registers 170°F.
Remove from heat and stir in vanilla extract.
Strain through a fine mesh sieve into a bowl. Cover with plastic wrap directly on top of custard to prevent a skin from forming. Chill in refrigerator for at least 4 hours or overnight.
Once chilled, churn in an ice cream maker according to manufacturer's instructions. Once churned, fold in caramel sauce.
Transfer ice cream to an airtight container and freeze for at least 4 hours before serving.