To a large pot add the granulated sugar, butter, and milk. Heat over medium heat until the butter is melted, stirring often.

Increase the heat to medium-high and bring the mixture to a boil for 60 seconds without stirring.

Remove the pot from the heat and add the peanut butter and vanilla; stir well.

Add the quick oats and stir until well combined.

Spoon the mixture onto baking sheets lined with parchment paper to form individual cookies.

Allow the cookies to cool completely to room temperature to set, about 45 minutes.