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Caramel Sauce with Milk

Looking for recipes for caramel sauce with milk? Taste of Home has the best caramel sauce with milk recipes from real cooks like you, featuring reviews, ratings, how-to videos and tips.

Orange Caramel Ice Cream Sauce

Instead of topping ice cream with a store-bought sauce, try this simple homemade version. The subtle orange flavor pairs well with any type of ice cream. —Taste of Home Test Kitchen