Combine sugar and milk in a large pan, and heat over medium-high heat, stirring to dissolve the sugar. Continue cooking at a slow boil, stirring often, until the mixture reaches the soft ball stage, or 234 degrees. Remove from heat and stir in the butter, peanut butter, vanilla and maple flavoring. Beat mixture by hand until thick and smooth. Pour into a greased 8x8-inch pan and cut when cool.
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