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1. In a saucepan, combine sugar and milk. Bring to a boil and let cook for about 3 minutes, until the sugar is completely dissolved (this will keep the texture smooth, not gritty). 
2. Remove from heat and add the peanut butter and vanilla extract. Stir until the mixture is smooth and creamy. 
3. Pour into an 8×8-inch pan and let cool. 
4. Slice and enjoy! 
