In a bowl, combine the all-purpose flour, baking soda, and salt. Set it aside.

With a mixer, blend together the creamy peanut butter, unsalted butter, granulated sugar, and light brown sugar until smooth and creamy.

Mix in the egg, milk, and vanilla extract, scraping the bowl as needed to keep everything well incorporated.

Gradually add the dry ingredients to the wet mixture until everything is blended together perfectly.

Chill the cookie dough in a container or wrap it tightly, and refrigerate for at least 1 hour.

After chilling, line two baking sheets with parchment paper and preheat your oven to 375°F.

Shape the chilled dough into 1-inch balls, roll them in granulated sugar, and place them on the baking sheets spaced about 1.5 to 2 inches apart.

Bake for 7-8 minutes, then carefully press a Hershey Kiss on top of each cookie, pushing gently to create those lovely crackly edges.

Bake for an additional 2 minutes.

Let the cookies cool on the baking sheet for 5-10 minutes, then transfer them to a wire rack to cool completely.

Store the cookies in an airtight container with a slice of bread to keep them soft for up to a week.