A caramel latte would be the closest version to a hot Caramel Frappuccino. Frappuccino is an iced coffee drink trademarked by Starbucks. The two main ingredients are milk and coffee with the addition of a caramel flavor.
A latte is made similarly, with steamed milk and a single shot of espresso, and a caramel flavoring could be added to make it a caramel latte. Frappucinos are typically topped with whipped cream, so adding a whipped cream topping to the caramel latte would most closely simulate a warm Caramel Frappuccino. Starbucks began selling Frappucinos in 1994, and the drink is one of Starbucks' flagship drink offerings.