In a small sauce pan on medium heat, add sugar, cacao powder, milk, and butter. Bring mixture to a boil. Boil 45 seconds to 1 minute. NOT any longer.
Remove from heat and stir in peanut butter, sea salt and vanilla. Then add in rolled oats and stir until well coated.
Using a cookie scoop or a spoon, drop (about 2-3 TBSP amount)onto parchment paper. Let cool completely- about 20 minutes. I sometimes like to move the cookie over just a little bit after 15 minutes so the bottom of the cookie cools all the way and doesn't collect any moisture.
Store in zip baggie or freeze. Makes about 14-15 small cookies. You can easily double this recipe.