1. Combine sugar, salt, lemon juice, and 1 tablespoon water in wide, heavy-bottomed saucepan over medium-low heat. Cover saucepan and cook, checking occasionally until sugar melts and turns amber, 10 to 12 minutes. Do not overcook or sugar will burn.

2. Remove from heat and slowly whisk in goat's milk. Let cool completely. Drizzle cajeta sauce over ice cream and serve, or store covered in refrigerator up to 1 week.