Gather all ingredients.

Combine sugar, butter, milk, and cocoa in a medium saucepan; bring to a boil, stirring often. Boil for exactly 1 ½ minutes.

Remove from heat, and stir in peanut butter.

Add oats and vanilla; stir until well combined.

Drop by teaspoonfuls onto waxed paper.

Let cool until hardened. Enjoy!