In a medium saucepan, combine granulated sugar, unsalted butter, milk, unsweetened cocoa powder, and a pinch of salt. Stir over low heat until the butter melts and ingredients blend together into a smooth consistency.

Increase the heat to medium and bring the mixture to a rolling boil, stirring continuously to prevent burning. Boil for exactly 1 minute.

Remove the saucepan from the heat to halt the cooking process.

Stir in the quick-cooking oats until fully coated with the chocolate mixture.

Add in the creamy peanut butter while the oat mixture is still warm and stir until incorporated.

Pour in the vanilla extract and stir until well-blended.

Drop generous spoonfuls of the mixture onto a wax paper-lined baking sheet, shaping them into rounds or mounds.

Allow the cookies to set at room temperature for at least 30 minutes.

Transfer cookies to an airtight container for storage.