With a stand mixer, whip the heavy whipping cream until it reaches soft peaks. (See notes.) Then add a little dash of whole milk and mix just until its combined. Lastly, add sweet + condensed milk to the whipped cream. Mix those two until they are also just combined.
Pull out a round baking pan and a sheet of parchment paper a little bit bigger than the pan. Fit the paper into the pan (like in the pictures above) and pour in the ice cream. Fold the room temp salted caramel into the ice cream and put it into the freezer.
Let the ice cream rest in the freezer for at least 2-3 hours. (Or as long as you can wait ;)) Top it with some chopped walnuts and serve immediately. Enjoy! <3
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