Place 2 caramel hard candies in a zip lock bag, close it, and crush them using a rolling pin until you have small pieces of crunchy caramel. Set aside.
In a small saucepan, heat on medium heat the regular milk, brown sugar, and caramel sauce until the sugar is dissolved and the milk mixture is hot. Add the vanilla extract and espresso and mix.
Pour the mixture into a cup of coffee of your choice, top with whipped cream, add a drizzle of caramel sauce, and sprinkle with the caramel bits on top. Enjoy while still warm!