Have a glass of cold water ready by the stove!In a medium saucepan, combine the sugar and milk and bring to a boil over medium heat, stirring constantly to prevent it from burning.
Boil for sugar mixture for about 2 ½ to 3 minutes or until the mixture forms a ball in cold water. When the mixture reaches the soft-ball point, turn off the heat. Stir in the peanut butter, butter, and vanilla. Mix until smooth.
Pour the fudge mixture into a pan and quickly smooth it out, the mixture will start to solidify as it cools. Allow fudge to cool completely before cutting.
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