Prepare a large baking sheet by lining it with parchment paper and set aside.
In a medium saucepan, bring the sugar, cocoa, butter, and milk to a boil for one minute. Add in the peanut butter and stir until combined. Remove the saucepan from the heat and add in vanilla and oatmeal followed by the salt. Quickly and carefully stir well to combine.
Drop rounded tablespoons onto parchment lined baking sheet and allow the cookies to cool and set for about 15 minutes before digging in.