Thick Chocolate Sauce
Perhaps a thick ganache might meet your demands. It wouldn't be as sticky as caramel though. But take a look at this question. It mentions adding some honey and butter to the standard ingredients, cream and chocolate.

If you have questions on how to make ganache, watch this video or one of the many others available on the internet. Simply said, heat up heavy cream and pour it over chopped bittersweet chocolate. Stir till all the chocolate is melted and you have a nice, smooth consistency. For your purpose, use at maximum the same amount of cream as chocolate. Add some more chocolate if it's too runny. But know that the ganache will become harder/thicker when cooled.