Preheat your oven to 350°F (175°C). Line your cupcake pans with paper liners and set them aside.
In a medium bowl, whisk together the flour, baking powder, and salt until well combined.
In a large mixing bowl, cream the butter and sugar together until the mixture is light and fluffy. Add the eggs one at a time, beating well after each addition. Mix in the vanilla extract.
Alternately add the flour mixture and the milk to the butter mixture, beginning and ending with the dry ingredients. Be sure to scrape down the sides of the bowl as needed, but take care not to overmix the batter.
Evenly divide the batter among the cupcake liners, filling each about three-quarters full. Bake for approximately 20 minutes, or until the tops spring back when gently touched. Transfer the pans to a wire rack and let the cupcakes cool for 5 minutes before removing them from the pans. Allow them to cool completely.
Once cooled, use a small paring knife to cut out a small core from the center of each cupcake. Fill the cavity with a small spoonful of caramel sauce.