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Iced Latte Caramel with Homemade Caramel Milk

5 from 29 votes

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Creamy, sugar, and luxurious caramel are the perfect flavor for cold coffee. Indulge in a little sweet luxury whenever you like with this recipe for the best Iced Caramel Latte with Homemade Caramel Milk!

A cool and creamy iced caramel latte is the perfect way to chill out in style! You will adore this drink for so many reasons, including:

  • Sugary Sweet Sip – With one sweet sip of this amazing latte you will be hooked on the creamy caramel flavor! The homemade caramel milk makes every sip rich and full of caramel deliciousness.
  • Little Luxury – When life gets busy it’s easy to forget to take care of yourself, but this lovely latte is like an elegant respite from the stress of life! The silky combination of milk, caramel, and coffee will help you recharge with a fancy flair!
  • Simply Homemade – This easy recipe allows anyone to make a cafe-quality iced latte at home without expensive ingredients or equipment! It’s a great treat for yourself and a delicious way to show off your home barista skills to others!
  • Fresh Favorite – Everyone loves a caramel latte, but this beautiful recipe takes it to a new level! The creamy smooth caramel milk makes this drink refreshing, sweet, and totally irresistible!

Ingredients you need

Only three ingredients are required for making a delicious caramel coffee with homemade caramel milk.

Whole Milk – Whole milk is cow’s milk with a full-fat content and has the perfect texture and flavor to make a great latte! Try to use milk in opaque containers because vitamins are sensitive to light, so choosing milk in an opaque container ensures that you get more vitamins from the milk.

If you prefer plant-based milk or need a lactose-free variety, both work very well as substitutes. Oat milk works very well with this recipe! When using alternative dairy products, try to find one labeled “barista quality.” This variety gives you the best quality, flavor, and texture for latte making.

Granulated Sugar – Granulated sugar is the base of the smooth caramel milk in this latte. When exposed to heat, granulated sugar will turn into delicious caramel candy. Sugar does not caramelize until it reaches about 335°F, but the best way to make a caramel without burning is to keep the heat low and slow until you have a luscious treat!

Granulated white sugar is a common caramel ingredient, but if you want a vegan version of this latte, try using brown sugar instead.

Espresso – Delicious coffee makes the world go round! Not only does it make this caramel latte taste amazing, but it does so without adding calories to the cup! Plus, the caffeine in coffee helps increase focus.

Espresso has the right caffeine content and delicious flavor for this bold yet smooth latte! Although espresso has a velvety smooth and concentrated flavor, it is the first choice for lattes.

You can use any strong coffee here.  Pour-over, drip coffee, cold brew, or whatever fresh brew you are able to make at home. Just remember to grind your beans to suit the brewing method you will be using.

Cubed Ice – Keep your latte perfectly chilled with some ice. If you like to sip slowly, use large cubes or ice spheres because they will melt more gradually.

Iced Latte Caramel Step-by-step

Distribute the sugar in the saucepan.
Distribute the sugar in the saucepan.
Slowly caramelize the granulated sugar at a low temperature until it is liquified.
Slowly caramelize the granulated sugar at a low temperature.
Add the milk to the liquified sugar.
Add the milk to the liquified sugar.
Whisk the caramel and the milk until well combined.
Whisk the caramel and the milk until well combined.
Tall, narrow coffee glass, gets filled with strong coffee.
Add your strong coffee of choice.
Tall, narrow coffee-filled glass, gets filled with ice-cold homemade caramel milk.
Fill up with caramel milk.
Tall, narrow coffee glass filled with iced caramel latte, with homemade caramel milk. Placed on wooden coaster.

How To Make Iced Caramel Latte From Scratch

  • Step One: Spread the sugar evenly in the bottom of a pan over low heat. Slowly caramelize the sugar until it is liquified. Do not stir the sugar as it heats, the bubbles will mix and melt the lumps.
  • Step Two: Heat the milk.
  • Step Three: Once the caramel is liquid, pour in the warm milk and stir to combine. Set the caramel milk aside to cool.
  • Step Four: Fill the serving glasses with ice cubes.
  • Step Five: Brew the espresso and pour it into the serving glasses.
  • Step Six: Top the glasses with caramel milk.
  • Optional Step Seven: Froth the remaining caramel milk using the foam as a garnish. Sprinkle each glass with chocolate chips and enjoy!

Storing Homemade Caramel Milk

Store cooled caramel milk in an airtight container in the fridge for up to three days. If you really love this caramel milk, try pouring it into an ice tray and freezing it. Then you can pop cubes of tasty caramel milk into your coffee or tea whenever you like!

Barista Tips

  • When brewing coffee, always use filtered water. Filtered water does not calcify the coffee equipment, which makes for a better taste.
  • Be very careful not to burn the sugar while caramelizing; heat it slowly over low heat.
  • Don’t stress if the color of the caramel varies from time to time. There are degrees of caramelization that produce colors, but as long as the sugar does not become burnt, it will taste amazing!
  • Learning the ins and outs of making caramel can take some time, but along the way, you will enjoy so much lush caramel flavor.
  • The caramel milk tastes great as a mix-in for tea, milkshakes, and many other drinks and treats!


Saucepan – Normally, the saucepan is not a crucial part of making a latte, but a good saucepan can help a lot in this recipe! Since you are caramelizing sugar, it helps to have a reliable pan that heats evenly. Choose a heavy-bottom stainless steel or aluminum pan for uniform heating at an economical price. Non-stick-coated pans are okay if they are made without PFAS and free of nicks or scrapes.

Tall, narrow coffee glass filled with iced caramel latte, with homemade caramel milk. Placed on wooden coaster.

Frequently Asked Questions About Iced Latte Caramel

Can I Make This Iced Caramel Latte Decaf?

Absolutely! You can make this with whatever coffee beans you like, including half-caf or full-on decaf!

I Don’t Have A Milk Frother, What Can I Do?

Don’t sweat it! Adding a milk foam on top of a chilled latte adds texture and flair, but you do not need it. You can either skip the foam (like I did), froth the milk using a French press (if you have one), or swap it for a little whipped cream.

Can I Make Just One Latte Instead?

Yes, you can make just one caramel latte or no latte at all. The caramel milk is so good you might just want to!

More Recipes and Tips You Might Enjoy:

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Tall, narrow coffee-filled glass, gets filled with ice-cold homemade caramel milk.

Iced Caramel Latte Recipe

Easy to make iced caramel latte with homemade caramel milk. Make this yummy treat with three ingredients only!
5 from 29 votes
Print Pin Rate Save Recipe
Course: Coffee, Cold Beverage
Cuisine: Global cuisine
Keyword: caramel latte, caramel milk, homemade caramel milk, iced caramel latte
Prep Time: 15 minutes
Total Time: 15 minutes
Servings: 2 Servings
Calories: 170kcal


  • Saucepan small
  • Wooden spoon
  • 2 Serving glasses


  • 1 cup Whole milk or a plant-based milk alternative
  • ¼ cup Granulated sugar
  • 2 Double Espresso can be replaced with cold brew, French press, AeroPress, or Pour over coffee.
  • Cubed Ice


  • Take a pan and spread ¼ cup Granulated sugar evenly in it.
  • Slowly caramelize the granulated sugar at a low temperature until it is liquified. Do not stir.
  • Heat 1 cup Whole milk in the microwave using a microwave-safe container or separately on the stove in a saucepan.
  • Once the caramel is liquid, pour in the warm milk. Stir to combine the milk with the caramelized sugar.
  • Set aside when well combined and let it cool down.
  • Fill up your serving glasses with Cubed Ice.
  • Brew 2 Double Espresso into a metal pitcher (or directly into your serving glasses). You can use cold brew coffee, French press, AeroPress, or Pour Over coffee if you fancy it instead.
  • Pour the coffee into the serving glasses, followed by the homemade caramel milk.
  • Serve immediately.


  • Froth the cold caramel milk with a milk frother and distribute the foamed milk evenly onto both caramel coffees.
  • Sprinkle with chocolate chips and serve.


Serving: 1Serving | Calories: 170kcal | Carbohydrates: 31g | Protein: 4g | Fat: 4g | Saturated Fat: 2g | Polyunsaturated Fat: 0.1g | Monounsaturated Fat: 1g | Cholesterol: 15mg | Sodium: 47mg | Potassium: 185mg | Sugar: 31g | Vitamin A: 198IU | Calcium: 150mg | Iron: 0.01mg
Tried this recipe?Let us know how it was!

Food Safety

  • Don’t leave food sitting out at room temperature for extended periods
  • Never leave cooking food and beverages unattended
  • Always have good ventilation when using a gas stove

See more guidelines at USDA.gov.

By on October 25th, 2023
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About Nora

Nora is a full-blown coffee addict, who loves to make and write about everything that is coffee related. She is currently training to be a barista and loves sharing her knowledge.

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