Line a baking sheet with parchment paper to prevent sticking.

In a medium saucepan, mix together granulated sugar, brown sugar, and milk over medium heat. Stir continuously until the mixture comes to a rolling boil, about 2-3 minutes.

Once boiling, remove the saucepan from heat and stir in the unsalted butter and cocoa powder until fully melted and combined.

Mix in the peanut butter and vanilla extract, ensuring it’s smooth and creamy.

Gently fold in the quick oats until completely coated with the chocolate-peanut butter mixture.

Use a spoon or cookie scoop to drop rounded mounds of the mixture onto the prepared baking sheet. Allow to cool at room temperature for about 30 minutes or refrigerate for quicker set-up.