Mix the sugar, cocoa, butter and milk in a saucepan. Bring to a strong boil for 3 minutes NO LONGER.
Add vanilla and peanut butter; stir quickly and thoroughly to melt peanut butter. Add oats and mix quickly...this step must be where the quickie comes from in the title of quickie cookies :-)
Again, quickly pour mixture in a greased dish (13X9) or whatever you have. Press into pan evenly. When cooled, cut into squares.
*Note* My mom dropped spoonfuls on wax paper, but I find it easier to put it all in a dish and let it cool. I think to have enough time to drop by spoonfuls before the mix hardens, I would only boil the mixture for 1 1/2 to 2 minutes.