1. In a food processor, pulse flour, granulated sugar, and salt. Add butter and pulse until crumbly.
2. Add egg yolk and pulse to combine. Add water gradually until dough forms a ball.
3. Knead dough slightly, wrap, and chill for 30 minutes.
4. Toss apples with brown sugar, lemon juice, cinnamon, and vanilla. Let sit for 15-20 minutes.
5. Preheat oven to 350°F. Roll dough and fit into a greased tart pan. Chill for 10 minutes.
6. Arrange apples in the tart shell, sprinkle with sugar, dot with butter, and bake for 60 minutes.
7. For caramel, melt sugar over medium heat, add butter, cream, and salt. Stir to combine.
8. Cool tart, drizzle with caramel, and serve with ice cream.