Line a baking sheet with aluminum foil. Spray foil with nonstick spray; set baking sheet aside.

Using a medium saucepan, add all ingredients; stir until well combined.

Place over medium-high heat and bring mixture to a boil, stirring often.

Let mixture boil for 3-4 minutes, stirring often.

Remove saucepan from heat and drop spoonfuls onto the prepared baking sheet. Set aside to cool.

Note: Make sure to freeze the bowl of the ice cream maker overnight before making this mixture.

Using a large bowl, add whipping cream, milk, sugar and vanilla extract; stir until well combined and sugar begins to dissolve.

Pour the mixture into ice cream maker and freeze according to the manufacturer's directions.

Once ice cream is done churning, chop up the cooled pralines and add them to the mixer; turn ice cream maker on again until pralines are mixed in.

While mixer is running, drizzle in caramel sauce.

Transfer the ice cream into a freezer safe container.

Freeze for at least 4 hours or overnight, or until ice cream is hard enough to scoop.

Drizzle additional caramel sauce on top before serving.