Make the Ice Cream Base: Warm the almond milk and half the sweetener in a saucepan. In a bowl, beat egg yolks with the remaining sweetener. Gradually add hot milk to eggs, whisking, then return to saucepan. Cook until thickened. Add heavy cream and vanilla and stir. Cool and freeze.
Prepare Caramel Layer: Warm sugar-free caramel sauce in a saucepan until smooth. Allow it to cool slightly before layering.
Assemble Bars: Pour the ice cream base into molds halfway up, then add a spoonful of caramel and a little more ice cream. Freeze for at least 4 hours.
Make Chocolate Coating: Melt the chocolate chips and coconut oil in a double boiler. Stir until smooth.
Dip and Finish: Remove frozen bars from molds, dip them into melted chocolate and put on parchment paper. Freeze again for another 10 minutes, until the shell firms up.