Prepare your workspace:
Line a baking sheet with wax or parchment paper.
Heat the sweet mixture:
In a medium saucepan, combine sugar, milk, butter, and cocoa powder. Stir constantly over medium heat until the mixture melts and begins to boil. Let it boil for 1 minute.
Add the flavors:
Remove the saucepan from heat and stir in peanut butter, vanilla extract, and a pinch of salt until smooth.
Incorporate the oats:
Stir in the quick-cooking oats until evenly coated.
Scoop the cookies:
Using a spoon, drop small mounds of the mixture onto the prepared baking sheet.
Let them set: Allow the cookies to cool at room temperature for 30 minutes or refrigerate for quicker setting.