Preheat the oven to 350 degrees F (175 degrees C). Grease a 15x10-inch baking pan.
Cream white sugar, brown sugar, butter, and eggs together in a mixing bowl. Mix in peanut butter and vanilla extract. Add flour and blend well. Add oats, baking soda, and salt and mix to combine. Spread into the prepared pan.
Bake in the preheated oven until golden and the edges start to pull away from the sides of the pan, about 20 minutes. Remove from the oven and let cool or chill in the refrigerator, about 30 minutes.
While bars cool, blend powdered sugar, butter, milk, and peanut butter together in a bowl, adding more milk to give frosting the desired consistency. Frost cooled bars and cut into 20 pieces.
Nutritional Facts
Per 20 servings
Calories: 388
Carbohydrate: 52g
Fat: 18g
Fiber: 2g
Protein: 6g
Sugar: 37g
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