In a medium saucepan, combine the granulated sugar, unsalted butter, and milk. Heat over medium, stirring consistently until it reaches a rolling boil. Allow it to boil for one minute before removing it from the heat.

Quickly stir in the creamy peanut butter and vanilla extract until the mixture is smooth and well combined.

Add the quick-cooking oats, shredded coconut, and chopped pecans to the saucepan. Mix everything together until all the ingredients are evenly distributed.

With a spoon, drop dollops of the mixture onto wax paper or a silicone baking mat, spacing them out evenly.

Let the cookies cool at room temperature for about 30 minutes, or until they have firmed up and set nicely.