Preheat the oven to 350°F. Grease a 9x13-inch baking dish.
In a large bowl, stir together the apple pie filling, ½ cup caramel sauce, cinnamon, vanilla, and salt until evenly combined.
Spread the apple mixture evenly into the prepared baking dish.
In a separate bowl, whisk together the flour, sugar, baking powder, salt, and cinnamon.
Stir in the melted butter, milk, and vanilla just until combined. Do not overmix.
Spoon the batter evenly over the apple filling. It does not need to completely cover the apples.
Bake for 45–50 minutes, or until the topping is golden brown and the filling is hot and bubbling around the edges.
Let the cobbler cool for 10–15 minutes.
Warm the remaining ½ cup caramel sauce slightly and drizzle it generously over the cobbler just before serving.
Serve warm with vanilla ice cream if desired.