Due to the simplicity and lack of time, I bought a can of sweetened condensed milk and cooked it to a caramel.
To be precise, Bärenmarke / Nestle milkmaid.
After cooking, I stirred a generous pinch of Fleur de SEL into it and dissolved it. A wonderfully creamy, velvety caramel. With or without salt.
It's super easy to make. While it is boiling, you can easily prepare the right ice cream base and even let it mature in the refrigerator.
I let my Thermomix work.

Last but not least, you can also use dissolved sugar to make hip for decoration

Give it a try ...

PS I personally call it my "Hosenmännchen" ice cream because the caramel hip looks like this ;-))