First off here is my source www.cancer.org
Acrylamide does not appear to be in raw foods themselves. It is formed when certain starchy foods are cooked at temperatures above about 250° F. Cooking methods such as frying, baking, broiling, or roasting are more likely to produce acrylamide, while boiling, steaming, and microwaving appear less likely to do so. Cooking at high temperatures causes the Maillard reaction a chemical reaction between certain sugars and an amino acid (asparagine) in the food, which causes acrylamide to form. Longer cooking times and cooking at higher temperatures can increase the amount of acrylamide in foods further.
So according to my source, you would have to eliminate these factors. I don't see how you would be able to caramelize anything without using the Maillard reaction although, let alone use the Maillard reaction in your cooking, these factors are beneficial in successfully and properly performing the Maillard reaction.
Although read my comment above or visit the cancer.org website