Combine sugar, cocoa, milk, and butter in saucepan over low to medium heat.
When the mixture STARTS to boil, put the lid on, reduce the heat, and cook for ONLY two minutes (this melts down the sugar from the sides of the pan). Remove from heat.
Add vanilla and salt. Mix well. think you should use a wooden spoon for this.
Add peanut butter. Mix really well.
Stir in oats.
Drop the mixture by spoonful on waxed paper, parchment paper, or cookie sheets. You'll be tempted to also drop this in your mouth. (I encourage and support this, but wait a bit until it cools so's you don't burn your tongue.)
Let stand for several hours until cookies hold together. If you made 'em right, the cookies are probably going to set well ahead of several hours. But you should tell your family it will take a while so they won't eat them all up, leaving you with the crumbs.