Dollop 1 tablespoon of caramel sauce onto the mesh part of a handheld milk frother (or dip the wand into the jar), then place the frother in the bottom of a glass. Pulse the froth button a couple of times to swirl the caramel around the glass, then repeat several times until the inside of the glass has good coverage.
Place the coffee ice cubes into the glass. Warm the milk gently in a pan on a very low heat, then froth with the frother and pour over the ice cubes to serve.