In a saucepan, combine sugar, milk, and cocoa powder.
Bring the mixture to a boil over medium heat.
Boil for 1 minute, stirring constantly.
Remove from heat and stir in peanut butter and butter until melted.
Add vanilla extract and mix well.
Gradually stir in the oats until fully combined.
Using a spoon, drop tablespoon-sized portions onto parchment paper.
Let the cookies cool and set for about 30 minutes.
Once set, transfer cookies to an airtight container.
Enjoy your delicious no bake cookies!