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Prepare and measure all ingredients and line a baking sheet with parchment paper.
In a large pot, combine sugar, milk, butter, and cocoa powder. Heat on medium and whisk until it reaches a boil. Boil for exactly one minute without stirring.
Remove from heat and stir in quick oats until mixed. Add peanut butter and mix until smooth.
Stir in vanilla extract.
Drop spoonfuls of the mixture onto the parchment paper and let set for 15 to 30 minutes until firm.