Whisk together condensed milk, vanilla, and salt in a large bowl. Set aside.
Whip the cream with a mixer on medium high speed until firm peaks form, about two minutes. Fold in condensed milk mix with spatula until combined.
Layer ⅓ of the ice cream mix into the bottom of the prepared pan. Spoon tablespoon amounts of caramel into the ice cream, making swirls with the spoon.
Layer additional ice cream over caramel, alternating ice cream and caramel layers until all ice cream is used.