In a medium pan combine sugar, milk, butter and salt together.
Bring to a boil over medium high heat and boil for 1 minute, stirring constantly.
Remove from heat and stir in vanilla, peanut butter and oats until well combined.
Keep stirring until mixture begins to thicken a little, about 1-2 minutes.
Using a small cookie scoop, drop cookies onto a parchment lined baking sheet.
Cool completely and store in an airtight container. I like to keep mine in the fridge.