Pour the caramel sauce into a saucepan. Heat over medium heat.
Once warm, add the milk and whisk until incorporated.
Whisk the egg yolks in a bowl. Slowly drizzle in 1/2 cup of the caramel mixture. Mix continuously to temper the yolks.
Add the tempered yolks to the remaining caramel mixture in the saucepan.
Continue cooking the custard over medium heat for 5 to 15 minutes, stirring constantly until it thickens. Once it's thick enough to coat the back of a spoon, strain the custard through a sieve.
Add the heavy cream. Stir to combine.
Transfer the salted caramel ice cream mixture to a container. Cover and refrigerate for at least 2 hours or, much better, overnight.
Churn the ice cream in the ice cream maker for 25 to 30 minutes, or until it is similar to soft-serve ice cream.
Transfer the ice cream to a container, cover it, and freeze for at least 2 hours.
To assemble a cookie ice cream sandwich, flip a cookie over and top with a scoop of salted caramel ice cream. Spread the ice cream evenly towards the edges of the cookie.
Top with another chocolate cookie, then press the sea salt caramel ice cream sandwich together. Continue with the rest of the cookies and ice cream.
Return the ice cream sandwiches to the freezer. Freeze for 1 hour to firm up before serving. Enjoy!