Usually caramel is made with heavy cream, it’s what thickens it. I have made something similar using milk but it will be very loose. Still yummy tho!Ever made caramel, KDOG?
Truth be told, I haven't made real caramel before, but I have made toffee. I'm thinking of experimenting with that -- adding some milk to keep it from setting so crunchy-hard, and seeing if I can make a soft candy or a sauce....

probably!!! I need to start using my brain. I know I have one. Or used to 

