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Melt a stick of butter in a saucepan over medium-low heat. Make sure to not burn the butter during this step.
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Once melted, add sugar, cocoa powder, peanut butter, vanilla extract, and salt to the mixture. Stir until fully combined and add the milk a little at a time.
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Raise the heat to medium and allow the mixture to boil for exactly one minute. Begin the timer as soon as the chocolate begins to fully boil.
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Quickly remove from heat and add the oats to the mixture. Combine fully until the oats are well incorporated into the cookie mixture.
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Line a large baking sheet with parchment paper and place flattened spoonfuls of the cookie mix onto it, evenly spaced about 1” apart.
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Let the cookies sit for at least an hour to allow them to harden. Refrigerating will greatly improve this process.