In a bowl combine ¼ c. of the sugar, flour and baking powder.
In another bowl combine the milk, peanut butter, oil and vanilla and whisk together until smooth. Combine this with the dry ingredients, making a thick batter.
Spread this batter evenly into a well greased medium-sized, not large, Crock Pot.
In the microwave heat the water to a boil, around 3 minutes, then add in the remaining sugar and cocoa powder, whisking to dissolve the sugars. Pour this directly over the cake batter.
Cook on high for 1 ½ to 2 hours until spongy and springs back to the touch, it will not be firm.
Spoon into bowls while warm {can be kept on the warm setting until ready to serve}, topping with vanilla ice cream.