Preheat oven to 350°F. Grease and flour a 9×13 inch baking dish.
In a large bowl, combine flour, cocoa, sugar, baking soda, baking powder, and salt.
Add eggs, milk, oil, and vanilla. Beat on medium speed for 2-3 minutes. Stir in coffee (the batter will be runny). Pour into the baking dish and smooth the top.
Bake for 35-40 minutes or until a toothpick comes out clean. If needed, gently press the center to level it once slightly cooled.
Cool the cake. Mix caramel sauce with condensed milk.
Poke holes all over the cake with a wooden spoon’s end. Pour caramel mixture over the cake, ensuring it seeps into the holes.
Refrigerate for at least 4 hours.
Top with chocolate sauce before serving.