Soft, chewy peanut butter cookies rolled in sugar and crowned with a milk chocolate kiss—a quick, crowd-pleasing classic for holidays and anytime cravings.
Preheat oven to 375°F. Line 2 baking sheets with parchment paper.
In a medium bowl, whisk together flour, baking soda, baking powder, and salt.
In a large bowl, beat butter, peanut butter, granulated sugar, and brown sugar until light and fluffy, about 2 minutes.
Beat in the egg, milk, and vanilla until smooth.
Add the dry ingredients to the wet ingredients and mix just until a soft dough forms.
Scoop dough into 1 tablespoon portions, roll into balls, then roll each ball in the extra granulated sugar to coat.
Arrange on prepared sheets about 2 inches apart and bake until set and lightly golden, 8 to 10 minutes.
Immediately press a chocolate kiss into the center of each cookie; the edges will crack slightly. Let sit on the sheet for 5 minutes.
Transfer cookies to a wire rack to cool completely. Store in an airtight container at room temperature.
Notes
For neat cracks and a soft center, avoid overbaking. If the dough feels sticky, chill it for 20 minutes before rolling. Swap milk chocolate with dark chocolate kisses if preferred.