In a large pot over medium heat, combine the sugar, milk, butter, and cocoa powder.

Stir gently with a whisk while heating to combine everything evenly.

Bring the mixture to a rolling boil, then let it boil for exactly one minute. Set a timer for accuracy and stop whisking during the boil so the mixture thickens properly.

Remove the pot from heat immediately after the one-minute boil.

Stir in the quick oats and mix thoroughly until all the oats are coated.

Add the creamy peanut butter and stir until melted and evenly combined.

Finally, stir in the vanilla extract for a touch of warmth and depth.

Line a countertop or baking sheet with parchment paper.

Using a spoon, drop rounded portions of the warm cookie mixture onto the parchment.

Let the cookies set at room temperature for 15 to 30 minutes until firm.

Once set, the cookies can be transferred to an airtight container for storage or enjoyed immediately.

Serve with a cold glass of milk or a cup of coffee for a nostalgic treat.