1. Preheat over to 350 degrees F, setting rack in center position.
  2. Unwrap Hershy’s Kisses, set aside in a bowl.
  3. In a separate bowl, combine flour, baking soda, and salt. Set aside.
  4. In stand mixer with the paddle attachment, cream together butter and peanut butter.
  5. Add sugars and continue until fully mixed.
  6. Add milk and vanilla extract until fully mixed.
  7. Setting mixer to low, add 1/2 of the flour mixture until fully combined.
  8. Add egg to batter, continuing to mix.
  9. Add the last of the flour mixture, mixing until fully blended. If the dough is too dry (flaky like pie crust rather than a cohesive batter), add milk 1 tbsp at a time until the batter comes together.
  10. Place 1 cup of granulated sugar in a bowl or small plate.
  11. Pinch off walnut-sized pieces of dough (approximately 1-1.5 oz), roll into a ball, and then roll in the granulated sugar. Place on cookie sheet lined with parchment paper. Be sure not to place cookies too close togther as they spread significantly during baking.
  12. Bake cookies for 11 to 13 minutes. The cookies will only lighten a bit and will be soft to the touch.
  13. Immediately place one Hershey’s kiss in the center of each cookie, pushing down slightly to create a small cradle for the kiss in the dough. DO NOT touch again until fully cooled.
  14. Immediately transfer cookies to cooling rack via spatula.