Sift together flour, baking soda, and salt and set aside.
In an electric mixer, mix room temperature butter, brown sugar, granulated sugar, and peanut butter until smooth.
Add in one egg at a time and beat
Add in the vanilla and milk.
Turn the mixer to low and gradually add in the flour mixture. Do not over mix.
The dough will be very soft and you can refrigerate it for 30 minutes so it firms up a bit.
Shape dough into small 1″ balls and roll in a bowl of granulated sugar.
Place the dough balls on a baking sheet lined with parchment paper or a Silpat.
Bake the dough in a preheated 375-degree oven for 6 minutes. The cookies will be very light brown.
Let them sit for about 1 minute, then press a Hershy Kiss right in the middle!