Combine sugar and 1/4 cup water in a medium, heavy saucepan over medium-high heat; cook until sugar dissolves, stirring gently as needed to dissolve sugar evenly (about 3 minutes). Continue cooking, without stirring, 8 to 10 minutes or until mixture is light amber in color. Remove from heat; carefully stir in butter and evaporated milk (caramelized sugar will harden and stick to spoon, and mixture will bubble vigorously). Place pan over medium-high heat until caramelized sugar melts. Remove from heat; stir in vanilla and salt. Place pan in a large ice water–filled bowl; let stand 10 minutes or until cooled, stirring occasionally.
Combine caramel mixture and Millet Cream in a large bowl; refrigerate until well chilled.
Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer’s instructions. Spoon ice cream into a freezer-safe container; cover and freeze 2 hours or until firm.
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