Preheat oven broiler to high. Line a baking sheet with aluminum foil or parchment paper.
Place two halves of a graham cracker on a baking sheet, topped by a marshmallow. Place under broiler until marshmallow is brown and bubbly.
Remove from oven and immediately top each with half of a milk chocolate bar and remaining graham cracker halves. If you want the chocolate more melty, place the whole tray back into the oven while it is off (just warm).
Serve with caramel sauce.
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You can also use a kitchen torch to heat your marshmallow.