In a medium saucepan, combine the sugar, cocoa powder, milk, and butter.
Cook over medium heat, stirring frequently, until the mixture comes to a boil.
Once boiling, let it boil for 1 minute without stirring.
Remove from heat and stir in the peanut butter and vanilla extract until smooth.
Add the rolled oats and salt to the mixture, stirring until well combined.
Drop spoonfuls of the mixture onto wax paper or parchment paper.
Allow the cookies to cool and set at room temperature for about 30 minutes.
Once set, transfer them to an airtight container.
Store in the refrigerator for a firmer texture.
Enjoy your homemade no bake cookies!