Preheat the oven to 350°F (175°C).
Prepare a muffin tin by greasing or lining with paper liners.
In a mixing bowl, whisk together the milk, heavy cream, sugar, eggs, and vanilla extract until well combined.
In a separate bowl, combine the flour, baking powder, ground cinnamon, and salt.
Gradually add the dry ingredients to the wet mixture, folding gently until just combined.
Stir in the caramel sauce until incorporated but do not overmix.
Scoop the batter into the prepared muffin tin, filling each cup about two-thirds full.
Bake in the preheated oven for 20-25 minutes or until a toothpick inserted comes out clean.
Let the muffins cool in the pan for about 5 minutes before transferring to a wire rack to cool completely.
Once cooled, drizzle with additional caramel sauce if desired and enjoy!