Chill your tools: Pop a loaf pan or freezer-safe container and your mixing bowl in the freezer for 15 minutes.
Cold tools help the mixture set faster with fewer ice crystals.
Blend the base: In a blender, add Greek yogurt, almond milk, cream or coconut milk, protein powder, sweetener, salted caramel sauce, vanilla, and sea salt. If using, add glycerin or vodka and xanthan gum. Blend on medium-high for 30–45 seconds until smooth and slightly frothy.
Taste and adjust: Check sweetness and salt.
The mixture should taste a bit sweeter than you want the final scoop, since flavors dull when frozen. Adjust with more sweetener or a tiny pinch of salt.
If using an ice cream maker: Pour the mixture into the chilled machine and churn according to the manufacturer’s instructions, usually 15–25 minutes, until thick and soft-serve consistency.
If not using a machine: Pour into the chilled container, cover, and freeze. Whisk or stir vigorously every 30 minutes for 2 hours to break up ice crystals.
After that, freeze undisturbed for another 1–2 hours.
Marble in extra caramel (optional): When the ice cream reaches soft-serve thickness, gently swirl in an extra tablespoon or two of sugar-free caramel for ribbons. Don’t overmix.
Set and serve: Freeze until scoopable, about 3–4 hours total in most freezers. If it firms up too much, let it sit on the counter for 10 minutes before scooping.
Finish with salt: Scoop into bowls, drizzle a bit more caramel, and top with a pinch of flaky sea salt for that classic salted caramel pop.