Preheat the oven to 350°F (175°C). Lightly grease or spray a 9x13-inch baking pan.

In a large bowl, mix together the cake mix, pudding mix, milk, vegetable oil, and eggs until smooth and well combined.

Pour the batter into the prepared pan and bake according to the cake mix package instructions, about 30-35 minutes, or until a toothpick inserted into the center comes out clean.

Remove the cake from the oven and, while it’s still warm, use the handle of a wooden spoon or a chopstick to poke holes all over the cake, about ⅔ of the way down. Be careful not to poke all the way through to the bottom.

Let the cake cool for 20-30 minutes. Once cooled, pour the sweetened condensed milk evenly over the cake, letting it soak into the holes.

Drizzle half of the caramel sauce over the condensed milk, spreading it gently to cover the surface.

Spread the whipped topping evenly over the top of the cake.

Drizzle the remaining caramel sauce over the whipped topping. Sprinkle the chopped Heath bars and Hershey’s bars evenly over the top.

Refrigerate the cake for at least 1 hour before serving. Slice, serve, and enjoy!