Cut off a slice, 2 inches from the stem end, of each orange. Using a grapefruit spoon, scoop out the pulp from the oranges, leaving the rinds intact to form shells. Reserve the orange segments to garnish or enjoy as a snack. Set the hollowed-out orange shells, and their caps in the refrigerator to chill. Spoon 1 cups softened vanilla ice cream, into orange halves. Drizzle 2 tablespoons store bought caramel.
Note: Once stuffed, you may refreeze oranges until ready to serve. Top with caramel sauce just before serving. Caramel sauce may also be warmed in the microwave!