Gather all ingredients. Line a baking tray with waxed paper; set aside.

Bring sugar, butter, milk, cocoa, and salt to a full rolling boil in a large saucepan for 2 minutes.

Add quick-cooking oats, peanut butter, and vanilla; mix well.

Working quickly, drop by teaspoonfuls onto the prepared tray. Let cookies cool until firm. You can refrigerate them for 20 minutes to help them set faster.

Enjoy!