Line a baking sheet with wax paper.

Bring the sugar, milk, butter and cocoa to a boil in a medium saucepan over medium heat, stirring occasionally, then let boil for 1 minute.  Remove from heat.  Add the oats, peanut butter, vanilla and salt.  Stir to combine.

Drop by rounded teaspoonfuls of mixture onto the prepared baking sheet and let sit at room temperature until cooled and hardened (about 30 minutes).  Refrigerate in an airtight container up to 3 days.