Line two large cookie sheets with waxed paper.

In a large saucepan, stir together the sugar and cocoa powder. Add the milk and butter. Heat and stir over medium heat until butter is melted.

Continue to cook, stirring frequently, until the mixture comes to a full boil (a full boil is when you can't stir it down). Boil for one minute, stirring constantly. Remove from heat.

Add the peanut butter and vanilla and stir until smooth. Stir in the oats.

Drop by heaping tablespoons onto prepared cookie sheets. Let cool and enjoy.