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 minute (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.
Oats: I typically use quick oats for this recipe. I have found after testing that they work best. Butter: For this recipe make sure you are using real butter not margarine. It will make a difference until how they set. Setting time: These cookies could take 20-30 minuets to set. If your house is too hot I will sometimes open a window or even stick them in the fridge. Pro Tip: This recipe moves fast and over boiling or letting things sit to long could mess it up. I always prepare all ingredients before starting and measure everything out so I can move quick.Mixing: Do not mix in another bowl add your oats and peanut butter into your warm pot.