Remove foil from chocolate kisses.
Beat butter, peanut butter and sugars in large bowl until fluffy.
Add egg, milk and vanilla; beat well.
Stir together flour, baking soda and salt.
Gradually beat into the peanut butter mixture.
Shape dough into 1 inch balls. Roll in granulated sugar and place on ungreased cookie sheet.
Bake 6-8 minutes or until lightly browned.
Immediately press a chocolate kiss into center of each cookie; cookie will crack around edges. Remove from cookie sheet to wire rack and allow to cool completely.