Over medium-low heat, cook chopped apples, butter, brown sugar, white sugar, cinnamon, and vanilla extract until the apples have softened, about 6-7 minutes (as the apples cook down, the brown sugar and butter will turn into a caramel sauce). Remove from heat, and allow the mixture to cool.

With a mixer, whip the heavy cream until it forms peaks (depending upon the speed of your mixture, this could take anywhere from 4-7 minutes or so).

In a separate bowl, mix together sweetened condensed milk and the apples (including all of the liquid, as that's the tasty caramel!).

Pour the apple mixture into the whipped cream, and gently fold the mixture together. Once it seems combined, transfer the mixture into a freezer safe container, and allow to chill in the freezer, for at least 5-6 hours, or overnight.

Enjoy!