In a heavy saucepan bring to a boil ON MEDIUM HEAT sugar, cocoa, butter and, milk. Stir often. Let boil for 60-90 seconds.
Once boiled take off heat and add peanut butter, vanilla and, oatmeal. Stir well.
Drop mixture, by spoonful, on wax paper and push in a gummy worm. Allow to cool.
It is important that the instructions are followed. The mixture needs to be brought to a boil for 60-90 seconds or it will not have the right consistency. It will turn out runny and almost glossy.