In a medium bowl, stir together sweetened condensed milk, 1/4 cup of the salted caramel sauce, and vanilla extract. Set aside.

In the bowl of a stand mixer, using the whisk attachment, beat cream on high until stiff peaks form, about 3 minutes. With a rubber spatula, gently fold whipped cream into the sweetened condensed milk mixture. Stir in pretzels pieces and chopped Heath candy bars.

Pour ice cream mixture into a loaf pan or container. With a knife, swirl the remaining salted caramel sauce into the ice cream. Smooth with a spatula and sprinkle additional pretzel pieces and candy bar pieces over the top, if using. Cover with plastic wrap and freeze until firm, about 6 hours.

When ready to serve, remove from freezer and scoop!

Note-I like to use my homemade salted caramel sauce. Will keep covered in the freezer for 3-4 weeks.