Line a sheet pan with parchment paper and set aside.
Gather all ingredients and have them measured out. Once you start making the cookies, it goes quickly and you'll need to work relatively quickly! :)
Add the sugar, butter, milk, cocoa powder and salt to a large saucepan.
2 cups sugar, 1/2 cup butter, 1/2 cup milk, 1/4 cup cocoa powder, 1/8 teaspoon salt
Place the saucepan on a burner over low heat until the butter is melted, stirring frequently.
Turn the heat up to medium and bring the mixture to a boil. Boil for 1 minute - be sure to set a timer; you don't want to overcook this mixture!!!
Remove from the heat and stir in the peanut butter and vanilla and then the oats.
1/2 cup peanut butter, 2 teaspoons vanilla extract, 3 cups quick cooking oats
Scoop the cookies onto the prepared sheet pan (I use a #40 size cookie scoop).
Let cool completely (refrigerate to speed up the process) before removing from the parchment paper and storing in an airtight container on the counter or in the refrigerator.