Step 1

In a medium saucepan, combine the sugar, butter, cocoa, milk, and vanilla. Bring to a slow boil and simmer until the sugar is completely dissolved. Remove from the heat.

Step 2

Stir in the peanut butter and 2 1/2 cups oats. The mixture should be thick; stir in additional 1/2 cup oats if too runny. Let the mixture stand for about 10 minutes to cool.

Step 3

Line a baking sheet with wax paper or parchment paper. Drop the mixture by heaping tablespoonful onto the lined sheet. Let the cookies stand at room temperature for 1 hour to firm up. Store in an airtight container.

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