Chocolate-Caramel Fondue

14 - ounce can sweetened condensed milk

12 - ounce jar caramel ice cream topping

semisweet chocolate, coarsely chopped, or 1-1/2 cups semisweet chocolate pieces

Assorted dippers (such as angel food cake cubes, pound cake cubes, brownie squares, cut up salted nut rolls, large marshmallows, dried apricots, strawberries, banana slices, purchased cookies, and/or pineapple chunks)

Milk