In a saucepan over medium heat warm the milk until it's hot, stirring to prevent burning. Whisk to make it slightly frothy.
Once the milk is hot, stir in the caramel sauce and whisk to dissolve. Remove from heat and stir in the vanilla extract.
Add the espresso shots/coffee to two mugs and pour the caramel milk mixture on top OR stir the espresso/coffee directly into the milk mixture.
Making the Whipping Cream
Combine the cold whipping cream, sugar and vanilla. Beat with a mixer to soft peaks. Spoon on top of the lattes. Drizzle on extra caramel sauce if desired.
Notes
Regular caramel sauce can be substituted for salted caramel if desired. Recipe time based on prepared ingredients.