Mix sugar and cocoa together. Stir in milk. Put mixture in a pot. Add butter and heat to a full boil. Stir continuously and cook for about two minutes. Turn off heat and mix in peanut butter, oatmeal and vanilla.
Take spoonfuls of cookie dough and drop formed cookie balls onto waxed paper. Place wooden pop sticks into each ball. Dip cookie pops in a bowl of chocolate fudge shell topping and add rainbow sprinkles. Chill in fridge for approx. 3 hours.