Step 1

Place brown sugar, milk, and butter in a large saucepan, and cook, stirring occasionally, over medium, until butter melts. Increase heat to medium-high, and bring to a boil. Boil 1 minute. Remove from heat, and stir in peanut butter, vanilla, and salt until smooth. Fold in oats.

Step 2

Drop by level tablespoonfuls, about 1 inch apart, onto parchment paper-lined baking sheets. Chill until set, about 1 hour.