Put everything except the vanilla extract and salt in a saucepan. Whisking continuously, cook the mixture over medium-low heat for 5-6 minutes until it comes to a boil.
Boil the mixture
Still whisking continuously, boil the mixture for one minute. After one minute, immediately take the saucepan off the heat.
Whisk in the vanilla extract and a pinch of sea salt (if using), and let the caramel sauce cool a few minutes. The caramel sauce will continue to thicken as it cools.
Serve and enjoy!
Enjoy the caramel sauce drizzled over ice cream, brownies, popcorn etc.
Notes
Store leftover caramel sauce covered in the refrigerator for up to five days.To re-heat, microwave leftover sauce in 30 second increments.