Prepare an ice bath in a large heat proof bowl.

In a medium saucepan, combine the sugars, milk powder and milk. Stir with a whisk until smooth. Make sure the milk powder is dissolved into the mixture and there are no lumps. Stir in the cream and whisk in over medium low heat.

Cook the mixture, stirring often with a rubber spatula over medium heat. Make sure to scrape the bottom of the pan to prevent burning. Mix until 110°F, 5 to 10 minutes. Remove the pan from the heat.

Place the egg yolks in a medium bowl. While whisking, slowly pour in ½ cup of hot milk-cream mixture to temper the egg yolks. Continue to whisk until even in color.

Whisk the egg yolk mixture back into the saucepan with the milk and cream.

Return the pan to the stove top over medium heat, continue cooking, stirring often until it reaches 165°F, 5-10 minutes. Another way to test if it's ready is if it coats the back of a spoon and if you run your finger through it, the milk stays separated.

Transfer the pan to the prepared ice bath. Let it cool for 15-20 minutes, stirring occasionally.

Pour the ice cream base into a plastic container through a wire-mesh strainer. Cover and refrigerate for a few hours or overnight.

Transfer the cooled base to the ice cream maker and churn according to the manufacturer's instructions.

After churning, place in a frozen plastic container and swirl in the caramel sauce with a knife. Pour the ice cream into a frozen container.

Serve immediately or place in freezer for a few hours or overnight before serving.