Prepare the Mixture: In a medium saucepan, combine sugar, cocoa powder, milk, and butter over medium heat. Stir constantly until the mixture comes to a boil. Allow it to boil for 1 minute, then remove from heat.
Mix in Peanut Butter: Stir in the peanut butter until completely melted and combined. Then add the vanilla extract and a pinch of salt.
Combine with Oats: Add the quick oats to the chocolate mixture and stir until well coated.
Shape the Cookies: Drop spoonfuls of the mixture onto waxed paper or a silicone baking mat. Flatten slightly if desired.
Cool and Set: Let the cookies cool at room temperature until they set. This usually takes about 30 minutes.
