Preheat the oven broiler to high. Line a baking sheet with aluminum foil or parchment paper for easy clean up (optional).
Place two halves of a graham cracker on a baking sheet, topped by a marshmallow. Place under the broiler until marshmallow is brown and bubbly.
Remove from the oven and immediately top each with half of a milk chocolate bar and the remaining graham cracker halves. If you want the chocolate more melty, place the whole tray back into the oven while it is off (just warm).
Serve with caramel sauce for dipping (optional).
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Notes
You can also use a kitchen torch to heat your marshmallow.