Prepare a baking sheet with wax paper or parchment paper. In a saucepan place sugar, cocoa, butter, and milk. Cook over medium high heat. Bring to a slight boil and cook for 1 minute. Remove from heat and stir in vanilla and peanut butter. Stir until smooth and combined. Stir in oatmeal and peanuts. Drop by tablespoon onto prepared baking sheet. I use a medium stainless steel scoop and then press down each ball slightly. Cool completely. Store in an airtight container.
Notes
These cookies are unbaked cookies, so no oven time is required. You can cool them in the refrigerator to help them harden a bit quicker.