Place butter and sugars into a bowl of a stand mixer fitted with the paddle attachment and beat on medium speed for five minutes or until the mixture is light and fluffy. Add the caramel sauce, scrape down the sides of the bowl with a spatula, and beat another minute.

Add vanilla extract and beat for 30 seconds. Add the flour and mix on low speed until fully incorporated. Don’t overmix the dough, stop the mixer once you no longer see streaks of flour.

Transfer the dough to a work surface, gather any bits or crumbles, and roll into a uniform ball. Divide into two equal pieces and form into a sausage-like roll. Wrap the rolls in plastic wrap and refrigerate for at least two hours.

Preheat the oven to 350 degrees Fahrenheit and line two baking sheets with Gefen Parchment Paper.

Remove the logs from the fridge and using a sharp knife, cut logs into one-third-inch slices. Place them onto the baking sheet about half an inch apart (they don’t spread).

Bake for 12 to 15 minutes or until just golden around the edges. Cool slightly and transfer to a cooling rack to cool completely.

In a medium bowl, stir milk and caramel sauce together with a fork or whisk until fully combined. Add the powdered sugar and continue stirring until fully incorporated. If the mixture is too thick, whisk in more milk, a teaspoon at a time, until it reaches a thick but pourable consistency.

Transfer icing into a piping bag, snip the end, and drizzle onto cookies. Alternately, dip the cookies into the glaze, allow excess to drip off, and place on a wire rack to set. Sprinkle flaky salt. Serve.