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Start by making the salted caramel sauce. Place the sugar and butter into a saucepan over a medium heat and stir until the butter has melted and the sugar has dissolved.
Pour in the cream and whisk until smooth. Bring to a gentle simmer and cook for 3–4 minutes until slightly thickened. Remove from the heat and stir in the salt and vanilla, if using. Leave to cool completely.
Whip the double cream to soft peaks. Gently fold through the condensed milk until fully combined.
Fold about half of the cooled caramel sauce through the ice cream mixture, leaving a few streaks for a ripple effect.
Spoon into a freezer-proof container, then swirl through a little extra caramel sauce if you like. Freeze for at least 6 hours, or until firm.
Serve with the remaining salted caramel sauce drizzled generously over the top and a pinch of flaky sea salt.