1. Line 13 x 9-inch pan with aluminum foil; spray with no-stick cooking spray.
2. Combine sugar, butter and milk in large saucepan, stirring constantly on medium heat, until mixture comes to a boil. Reduce heat and simmer 5 minutes, stirring constantly. Remove from heat.
3. Add peanut butter. Stir until well blended. Add marshmallow creme and vanilla. Beat until well blended. Spread in prepared pan. Cool. Cut into candy-sized pieces.