In a large mixing bowl, combine the rolled oats, peanut butter, honey (or maple syrup), powdered sugar, cinnamon, vanilla extract, and a pinch of salt. Stir until the mixture is fully incorporated and feels thick and dough-like.

Use your hands or a spoon to roll the dough into 1-inch balls. Arrange them on a parchment-lined baking sheet and gently flatten each ball into a round shape.

Refrigerate the cookies for at least 30 minutes, or until they feel firm to the touch.

While chilling, whisk together the powdered sugar, milk, and vanilla extract in a bowl until smooth and glossy. Adjust the milk to achieve your desired glaze consistency.

Once the cookies are firm, drizzle the glaze over each cookie. Let the glaze set for a few minutes before serving.

Enjoy with coffee, milk, or as a delightful snack!