Add sugar and cocoa powder to a medium heavy-bottomed saucepan. Whisk until thoroughly mixed. Add milk and butter and cook over medium-high heat. Bring to a rolling boil and boil for 1 minute. Remove from heat and stir in vanilla, salt, peanut butter and oats. Drop cookies by tablespoons onto parchment paper. Allow to dry for about 10-15 minutes until the no bake cookies have become firm.
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