Preheat your oven to 350°F (175°C). Line a baking sheet with parchment paper.
In a large mixing bowl, combine the peanut butter, granulated sugar, brown sugar, egg, and vanilla extract. Mix until smooth and creamy.
Add the baking soda and flour to the peanut butter mixture. Mix until fully incorporated.
Fold in the semi-sweet chocolate chips gently.
Take about a tablespoon of dough and flatten it in your hand. Place about ½ teaspoon of caramel sauce in the center and fold the dough around it, sealing it completely. Roll it into a ball and place it on the prepared baking sheet.
Repeat this process for the remaining dough, spacing the cookies about 2 inches apart on the baking sheet.
Gently press each cookie down with a fork, creating a crisscross pattern on top (optional).
Bake in the preheated oven for 10-12 minutes or until the edges are lightly golden. The centers might look slightly underbaked - that's okay!
Remove from the oven and let the cookies cool on the baking sheet for about 5 minutes before transferring them to a wire rack to cool completely.
If desired, sprinkle a little sea salt on top of the cookies while they’re still warm to enhance the flavor.