In a large pot add sugar, milk, butter, and cocoa powder. Slowly bring to a boil while whisking. Once at a boil allow to boil for one minutes (I set a timer and stopped the whisking).
Remove from heat and add in oats. Mix well. Add in peanut butter, mix well. Last add in vanilla extract and mix well.
Lay out parchment paper on the counter and spoon out the dough into cookie shapes. Allow to set for 15-30 minutes.