Combine chopped candy bars and sweetened condensed milk in a small saucepan. Heat over medium low heat till Milky Ways are melted, stirring often.
Cool to lukewarm and add the cream, milk, salt, and vanilla. Whisk till smooth.
Chill for several hours or overnight.
Freeze in an ice cream maker according to manufacturer's instructions.
Place in an airtight container and freeze for several hours or until hard enough to scoop.
Notes
A few readers had trouble with the caramel becoming too thick as it cooled, so be sure not to let it cool too long. If it becomes so thick that you can't whisk it, simply reheat it in the microwave for a few seconds.