In a heavy saucepan, bring to a boil the sugar, cocoa, butter and milk. Let boil for 1 minute, then add peanut butter, vanilla and oatmeal.
Drop teaspoonfuls of the mixture onto a sheet of waxed paper. Let set until cooled and hardened.
Per 1 cookie serving (1 carb choice + 1 fat choice): 131 calories, 5.5 grams fat (2.8 grams saturated fat), 2.6 grams protein (1.9 grams soy protein), 18 grams carbohydrates, 51 mg sodium, 7 mg cholesterol, 1.4 gram dietary fiber