Combine the sugar, cocoa, butter, milk, and salt together in a medium sized saucepan. Mix well and bring to a boil. Boil for 1 minute then remove from heat.
While the mixture is still hot, add the vanilla, peanut butter, and oats. Stir until the batter is uniform. Then, on a parchment paper lined cookie sheet, drop the batter into individual cookies. As the mixture cools, the cookies will harden into shape.
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