Dulce de Leche Ice Cream

Pour sweetened condensed milk into a medium saucepan. Cook over medium heat, stirring constantly, until golden brown, 20 to 25 minutes. Avoid boiling or simmering.

Remove from heat; slowly stir in heavy cream and milk. Stir until the mixture is uniform in color and texture. Stir in vanilla extract and salt. Strain mixture through a fine-mesh sieve; discard solids.

Cover and refrigerate until thoroughly chilled, at least 4 hours.

Pour mixture into an ice cream maker and freeze according to manufacturer's instructions, about 20 minutes. Transfer to an airtight container and freeze until firm, about 4 hours.