In a large saucepan add sugar, milk, butter, and cocoa powder. Slowly bring to a boil while whisking. Once at a boil allow to boil for 1 minute.

Remove from heat and add in oats. Mix well. Add in peanut butter, mix well. Then add in vanilla and mix well.

Lay out parchment paper and drop by the spoonful into cookies shapes. Allow to set for 15-20 minutes.