Chop up your chocolate bar or grate it so it melts easier and more evenly in your mixture.
In a heavy bottom pan, add in your milk, chocolate bar, cocoa powder, baking caramels, and sea salt, and heat over low-medium heat until the chocolate dissolves. Make sure to stir constantly with a rubber or wooden spatula so the milk does not burn at the bottom.
Let the mixture come to a soft boil for 30 seconds or so (or until desired temperature) and them remove it from the heat and serve with whipped cream!