Cook the Mixture: In a medium saucepan, combine the white sugar, butter, and milk. Heat over medium heat, stirring until the mixture comes to a rolling boil. Allow it to boil for exactly 1 minute while stirring constantly.
Add Peanut Butter and Cocoa: Remove the saucepan from the heat and immediately stir in the peanut butter and cocoa powder until completely melted and integrated.
Mix in Oats: Next, add the quick oats and vanilla extract. Stir until all the ingredients are well combined and the oats are fully coated.
Scoop the Cookies: Use a spoon or a cookie scoop to drop dollops of the mixture onto a baking sheet lined with wax paper. Let them cool for 30 minutes at room temperature, or until they are set.
Enjoy Your Treats: Once cooled, enjoy your no-bake cookies! Store them in an airtight container for a delicious snack any time.