In a medium saucepan, mix together the sugar, cocoa powder, butter, and milk. Bring to boil and boil for 1 minute.
Remove from heat and add the vanilla and peanut butter. Mix until the peanut butter is completely melted. Then, add the oats and mix well.
Drop spoonfuls of batter onto parchment paper or foil. Allow to set and cool completely. Store in a sealed container in the refrigerator.