Line two large baking sheets with parchment paper or silicone baking mats and set aside.

In a 3-quart saucepan, place granulated sugar, brown sugar, butter, milk, and cocoa powder. Bring the mixture to a boil over medium heat, stirring occasionally until it reaches a full boil.

Once boiling in the middle and around the edges, set a timer and let it boil for exactly one minute.

Remove the saucepan from heat and stir in 2 cups of the quick oats until they are just coated.

Add the peanut butter, vanilla extract, salt, and the remaining quick oats. Stir until everything is combined.

Using a medium cookie scoop or two spoons, quickly drop the mixture onto the prepared baking sheets.

Allow the cookies to sit at room temperature for about 20 to 30 minutes until they are firm to the touch.