In a medium bowl, whisk together the milk, cream, sugar, vanilla and salt.

Turn the ice cream maker on and add the milk/cream mixture to the bowl. Mix until somewhat thickened, about 10-12 minutes.

Add the crushed candy bars and caramel sauce and continue mixing for another 5-10 minutes, or until ice cream is a soft serve consistency.

Transfer ice cream to an air tight container and freeze for at least 2 hours, or until firm.