For the creamiest texture, use evaporated milk instead of whole milk. It's milk that has 60% of the water removed. The extra milk solids give a thicker consistency. It's been heat-treated, so it will have a slightly cooked taste, which adds depth. For an even richer texture and caramel flavor, add sweetened condensed milk, which has 60% of the water removed, plus added sugar. Add 3/4 cup of sweetened condensed milk instead of the sugar.