In a medium saucepan over medium heat, melt the sugar until it turns into a golden brown caramel. Do not stir; gently swirl the pan.
Once the caramel is ready, add the butter and stir until completely melted and smooth.
Slowly pour in the milk and heavy cream, stirring constantly until the caramel is completely dissolved.
In a separate bowl, whisk the egg yolks. Gradually add a little of the warm caramel milk to temper the eggs.
Pour the tempered egg mixture back into the saucepan and cook over low heat, stirring constantly, until the mixture thickens slightly (about 5 minutes).
Remove from the heat, add the vanilla extract and salt, and let it cool completely.
Pour the ice cream base into an ice cream maker and churn according to the manufacturer's instructions until creamy.
If you don't have an ice cream maker, pour the mixture into a shallow container and place it in the freezer. Stir every 30 minutes to prevent ice crystals from forming.
Once the ice cream is fully frozen (after about 4-5 hours of freezing), serve with a drizzle of caramel sauce and a sprinkle of sea salt.
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