In a medium saucepan over medium heat, gently heat up the milk. Once the milk is warm, but not boiling, add in the chopped dark chocolate, caramel sauce, and salt. Stir to combine.
Once the chocolate has melted, turn off the heat and serve. Top with whipped cream and a drizzle of caramel, if desired.
Notes
You can use chocolate chunks, pieces, or semi-sweet chocolate if you do not have dark chocolate.
Alternatively, if you want a recipe that uses unsweetened cocoa powder, use my Hot Cocoa Recipe and add the caramel sauce and salt amounts shown above.
Nutritional information was calculated using 1% dairy milk and semisweet chocolate chips.