In a saucepan combine the white sugar, brown sugar, milk, butter, and cocoa powder. Bring to a boil over medium high heat. Once the mixture begins to bubble continue to cook for 60 seconds, stirring continuously.
Remove the saucepan from the heat and add the peanut butter and vanilla, stirring until the peanut butter is completely melted.
Add both types of oats and stir until fully combined.
Drop the cookie mixture by the heaping tablespoon onto a parchment paper, or wax paper lined baking sheet.
Let the cookies cool completely, approximately 60 minutes, and enjoy!