In a medium bowl, whisk the milk, cocoa, maple syrup, peanut butter, vanilla, and melted oil or butter together until smooth. Warming the milk can help with this step, but it isn't necessary.
Stir in the oats until well distributed.
Dollop the batter onto a wax paper-lined plate (I usually get about eight cookies).
Freeze until cold and firm, and enjoy!
Notes
Nutrition facts are based on using unsweetened almond milk.WW points: 4