Bake the cookies according to the recipe instructions. Cool completely and store in an airtight container. Freeze until they're frozen, at least 2 hours or up to 2 months.**

Place a half sheet pan or loaf pan the freezer while you prepare the rest of the recipe. In a medium bowl, whisk together the sweetened condensed milk, vanilla extract, and a pinch of salt until smooth. Set aside.

Next, whip the heavy whipping cream until stiff peaks form, about 3-4 minutes. Fold about 1 cup of the whipping cream into the condensed milk mixture until smooth. Then, fold the condensed milk mixture into the rest of the whipped cream until you have a smooth ice cream base.

Pour the ice cream base into the chilled sheet pan (for straight, clean edges) or a loaf pan (if you just want to easily scoop the ice cream). Smooth the top evenly. Then, drizzle the caramel sauce all over the top. Use a toothpick, chopstick, or butter knife to swirl the ice cream (don't overmix, you want swirls of caramel throughout the ice cream).

Freeze the ice cream in a flat spot for about 2 hours. Wrap the pan with tinfoil or plastic wrap and freeze for another 3-4 hours until it's completely frozen.

For pretty ice cream edges, you'll need to do just a bit of prep! Use a 2.5-2.75'' cookie/biscuit cutter to cut ice cream rounds out of the sheet pan of frozen ice cream. Wipe down the cookie cutter with a wet cloth in-between cuts to ensure the edges stay clean. Place the ice cream rounds on a sheet pan or plate in the freezer while you work so the ice cream doesn't melt.

To assemble the ice cream sandwiches, flip a cookie bottom-side up. Place an ice cream round or a scoop of ice cream on top of the cookie. Sandwich another cookie on top of the ice cream and gently press together to adhere the ice cream to the cookies. Repeat with the remaining cookies and ice cream.***

Serve the ice cream sandwiches immediately. To store them for later, wrap each individual ice cream sandwich in parchment paper or plastic wrap. Place in an airtight container and freeze for up to 1 month.