Bring a large pot of water to a boil. Dip apples into boiling water briefly, using a slotted spoon, and let sit in water for 20-30 seconds.
Remove from water, and use a paper towel to wipe off any wax that may be on the apples (or buy direct from an orchard so they are wax free).
Wipe apples dry, and refrigerate 1-2 hours, or overnight. If in a hurry, place in freezer for 15 minutes before dipping into the caramel so they are chilled and will help the caramel set.
Remove the stem from each apple and press a craft stick, fork, or sucker stick into the top.
Butter some wax paper, or spray it with cooking spray, and line a baking sheet with it.
Place caramels and milk in a microwave safe bowl, and microwave for 1 minute, stir, then microwave for another minute.
Stir until milk is fully incorporated and caramel is easy to stir, but not too runny or hot.
Allow to cool briefly, about 3-4 minutes. Especially if the caramel is too hot. As it will run off the apple if it is too hot. But don’t wait too long, as you want the caramel to be able to coat the apples. Reheat a little if you wait too long.
Remove apples from refrigerator or freezer, and roll in the caramel sauce.
Roll each apple quickly in caramel sauce until well coated. Rotate your apples while you dip, and after you get the apple covered, hold it up above your bowl and slowly rotate to allow the caramel to make an even coat, and allow the caramel to begin to set up before you place it on your prepared sheet. This will reduce puddling at the bottom of the apple.
If decorating your apples, set your apples in a deep dish of sprinkles, or chopped OREOs, etc. while you dip the next apple, and gently press the treats into the caramel. Don't roll it or push it into the toppings as this often pushes the caramel away from the apple and can be very messy.
Place on the buttered or oiled wax paper on the baking sheet, and let set up.
Decorate further if desired.