Gather the Ingredients

You will need flour, baking soda, salt, butter, peanut butter, sugar, brown sugar, vanilla, egg, milk, and Hershey's Kisses.


Dry Ingredients

In a medium bowl, whisk together the flour, baking soda, and salt. Set aside.


Peanut Butter & Sugar

Use a hand mixer, stand mixer, or food processor to beat the butter and peanut butter together. Mix in the sugar and brown sugar.


Eggs & Vanilla

Add the egg, vanilla, and milk to the peanut butter mixture and beat until combined.


Add Dry Ingredients

Slowly add the dry ingredients to the wet ingredients and beat until mixed together, scraping the sides of the bowl as necessary.


Roll in Sugar

Use a 1-Tablespoon cookie scoop to measure the peanut butter cookie dough. Roll the dough between your hands to form a ball, then coat in the white sugar.


Bake the Cookies

Place the cookie dough balls on a baking 2 inches apart. Bake at 375 for 8-10 minutes until golden brown.


Add a Hershey Kiss

Remove from the oven and immediately place and unwrapped Hershey Kiss in the center of the cookie. Place cookies to a wire rack.