Brew the espresso according to your machine's instructions.
Heat the milk and froth (create foam). If your espresso machine has a frothing wand, you can do these at the same time. Or you can use a milk frother, or heat in a pan and use a handheld frothing wand or even a whisk.
Add the simple syrup to your coffee mug.
Then pour in the milk and foam.
Then pour the fresh espresso through the foam. Drizzle the caramel sauce on top.
Notes
I typically use 2% or whole milk, but any milk or milk alternative can work fine. Sometimes I drizzle some of the caramel sauce along the side of the coffee mug in addition to the top. It’s up to you!