Line a 13 x 9 x 2-inch pan with aluminum foil and then spray with a no-stick cooking spray. Combine sugar, butter and milk in large saucepan, stirring constantly on medium heat, until mixture comes to a boil. Boil 5 minutes, stirring constantly. Remove from heat. 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. Store in covered container.