Prepare all the ingredients. Chop the chocolates into small pieces for easier melting.
In a medium saucepan, heat the heavy cream and sweetened condensed milk over medium heat until combined and slightly warmed.
Add the vanilla extract and salt, then mix well. This forms the base ice cream mixture.
Pour in the caramel sauce and gently swirl it in to create a marbled effect.
Fill the mixture into ice cream molds and insert the sticks. Freeze for at least 4-5 hours, or until completely solid.
Melt the milk chocolate over a double boiler or in the microwave, then stir in the oil to make it more fluid.
Dip the frozen ice cream bars into the melted chocolate, then place them on parchment paper and return to the freezer for 30 minutes.
Before serving, let the ice cream bars sit at room temperature for 2-3 minutes to make them easier to bite into.
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