Mix syrup and peanut butter in a bowl. Stir in milk and sugar. Mix well. Place mixture on wax paper and form a log about 3/4th to 1 inch in size. Wrap in wax paper and chill. Cut into 1 inch pieces to serve. If using creamy peanut butter you may like to roll log in cake baking decorator candy pieces or chopped peanuts/pecans to decorate. Can sprinkle with just confectioners sugar. Store in refrigerator.
Note: We usually double or triple this recipe because it goes so fast. Children love it and like to help decorate!