Allow the caramel to dry, and then gently scrape off any hardened pieces with the dull side of a butter knife, a spoon, or a spatula.
Use cold water to rinse the stain off in the sink.
Soak in cold water and gently rub at the stain every 3-5 minutes until it is removed.
Wash the item as normal. Use an Oxi Booster for extra stain removing power if needed, particularly if the caramel contained food coloring!