Pecan Caramel Ice Cream

1 cup caramel ice cream topping

3 ½ cups milk

1 (14 ounce) can sweetened condensed milk (such as Eagle Brand®)

1 (3.5 ounce) package instant vanilla pudding mix

1 teaspoon vanilla extract

½ teaspoon salt

1 ½ cups coarsely chopped pecans, or more to taste

Place caramel ice cream topping into a microwave-safe container and heat in microwave until slightly warmed and softened, 10 to 30 seconds.

Whisk caramel topping, milk, sweetened condensed milk, instant vanilla pudding mix, vanilla extract and salt in a large mixing bowl until pudding mix has dissolved and batter is smooth.

Cover bowl and chill batter thoroughly, at least 6 hours to overnight.

Pour chilled batter into an ice cream maker and freeze according to manufacturer s instructions; stir pecans into soft ice cream at end of freezing time.

Serve soft if desired. If a harder ice cream is preferred, pack pecan ice cream into a lidded container and freeze to desired consistency.