Remove from heat, add the tea bags or loose-leaf tea, and steep for 3 to 5 minutes, depending on how strong you want the tea.
Discard the tea bags or strain out the loose tea, then stir in the caramel sauce and sugar, if using, until fully dissolved.
Add the milk and vanilla extract, if using, and stir well. For a warm drink, heat gently over low heat without boiling. For an iced drink, let the tea cool, then pour over ice.
Taste and adjust sweetness or caramel flavor as needed.
Serve in glasses or mugs with an extra drizzle of caramel on top if desired.
Notes
Use whole milk for a richer drink, or substitute any preferred milk, including dairy-free options. Adjust the amount of caramel sauce and sugar to taste, and chill thoroughly before serving over ice if making the iced version.