In a medium saucepan, combine white sugar, brown sugar, butter, and milk.

Turn heat to medium and bring the mixture to a full boil.

Boil for 2 minutes, then remove from heat.

Stir in dry vanilla pudding mix and pumpkin pie spice until well combined.

Add vanilla extract and stir.

Gradually mix in the oats, half a cup at a time, until fully incorporated.

Let the mixture sit for 5 minutes to thicken.

Use a small cookie scoop or spoon to drop portions onto wax paper.

Let cookies cool and set for about 20 minutes before serving.