Preheat your oven to 350°F (175°C) and line a baking sheet with parchment paper.
In a large mixing bowl, combine the peanut butter, sugar, egg, vanilla extract, baking soda, and salt. Mix until smooth and well combined.
Fold in the chocolate chips.
Using a tablespoon, scoop out the dough and roll it into balls. Place the dough balls on the prepared baking sheet, spacing them about 2 inches apart.
Make a small indentation in the center of each ball using your thumb or the back of a spoon.
Fill each indentation with about 1/2 teaspoon of caramel sauce.
Bake in the preheated oven for 10-12 minutes, or until the edges are lightly golden.
Remove from the oven and let the cookies cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.