No Churn Salted Caramel Toffee Pretzel Ice Cream

INGREDIENTS

1 can

sweetened condensed milk

1/4 cup

salted caramel sauce, plus two tablespoons, divided

1/2 tsp

pure vanilla extract

2 cups

cold heavy cream

1/2 cup

chopped pretzels

1/2 cup

chopped Heath candy bars

Additional chopped pretzels and toffee, about two tablespoons each, for garnish, if desired