In a heavy-bottomed saucepan, heat the granulated sugar over medium heat. Do not stir; instead, let it melt gradually and turn into a deep golden brown caramel.
Once the sugar has caramelized, add the butter and whisk quickly to melt evenly.
Pour in the heavy cream and milk while whisking constantly. The caramel may harden, but it will dissolve completely with gentle heat.
In a separate bowl, whisk the egg yolks. Gradually add a small amount of the warm caramel mixture to the yolks, tempering them to prevent curdling.
Pour the egg yolk mixture back into the saucepan and cook over low heat, stirring constantly, until the custard thickens and coats the back of a spoon.
Stir in the vanilla extract and salt. Let the mixture cool completely to room temperature.
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 it into a freezer-safe container and stir it every hour during the freezing process.
Freeze for at least 4-5 hours to allow the ice cream to set to the desired consistency. Let it sit at room temperature for a few minutes before serving.
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