Chill coffee in fridge or freezer, until at least room temperature. This will take about 15 minutes in the freezer, so you can use the freezer if you want to drink your iced coffee as soon as possible.
Stir the caramel sauce into the milk. If you have a cold milk frother, pour the caramel milk into it and froth according to manufacturer’s instructions. Otherwise, use a whisk to beat the caramel and milk together rapidly until foamy.
Pour caramel milk into chilled coffee right after frothing/beating. Add ice and enjoy immediately.
*If you’re making the homemade caramel sauce, which I highly recommend, make the thinner version, as explained in the caramel post.