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Combine the sugar, cocoa powder, milk and butter in a sauce pan over medium high heat.
Bring to a boil. Boil for 1 minute and then remove from heat.
Stir in the peanut butter and vanilla until completely combined.
Stir in the quick oats. Let it sit for a minute or two until it has thickened a little bit.
Once thickened, scoop the cookies onto parchment or wax paper.
Cool completely before serving.