As I understand it, CalDAV is an extension to WebDAV to manage iCalendar subscriptions.
And Webcal is a URL scheme that does the same thing, but not standarized.
CalDAV is a protocol, extending WebDAV, thus HTTP.
Webcal is a URI scheme that AFAIK was invented by Apple and has exactly the same semantics as "http", except that Safari (and maybe some other browsers) know that the URI refers to a calendar, and thus invoke the "right" application without having to fetch the resource.
(Of course the right thing would have been just to inspect the media type (content-type header field) and then to invoke the matching application.
So this is an anti-pattern (done again by Apple with "itms" URIs).