In a mug, stir together the vanilla syrup and espresso. Pour in the milk and stir.
Top with the whipped cream. Drizzle the caramel sauce on top. Serve immediately.
How to make homemade vanilla syrup: Begin by making a thick simple syrup. Add 1 cup of sugar and 1 cup of water to a saucepan. Heat to boiling, stir until sugar dissolves. Let the sugar syrup cool completely. Then add 1 tablespoon vanilla extract to the cooled sugar syrup to create vanilla syrup. This can be used to make a vanilla latte, and you can also add it to your iced coffee or cold brew coffee! This recipe for vanilla syrup will allow you to make about 10 beverages. Just store it in the refrigerator, and it will keep for up to one month.