If using rolled oats instead of oat flour, grind them into a fine flour first using a food processor.
In a bowl, mix the oat flour with the honey, vanilla and peanut butter.
Add the milk a little at a time until you get a thick, compact dough. It will feel sticky, that is normal.
Press the mixture into a silicone chocolate mold using a spoon, filling about 12 cavities. No mold? Press it into a small container or dish instead.
Melt the chocolate with the coconut oil over low heat or in the microwave. Let it cool slightly.
Sprinkle the amaranth or chopped peanuts over the bars, then pour the melted chocolate on top.
Add a pinch of flaky salt on top, if you like.
Chill until set, then pop the bars out of the mold. If you used a dish instead, slice into bars once fully chilled.