In a mixing bowl, sift together the all-purpose flour, baking soda and salt. Set aside.

Using a standing mixer with a paddle attachment (or a bowl with a hand held mixer), cream the unsalted butter, white granulated sugar, brown sugar and peanut butter. Scrape the sides of the bowl to ensure all ingredients are well blended.

Add the egg, whole milk and vanilla paste or extract and mix just to combined. Slowly add dry ingredients and mix until all the dry ingredients have been well blended, but don't over mix.

Chill the dough for an hour. Also chill the unwrapped Hershey's kisses.

Preheat oven to 375°F and line two baking sheets with parchment paper. Add about ¼ cup of sugar in a small bowl (for rolling the cookie dough).

Roll one tablespoon of cookie dough in the palm of your hands and make a ball. Drop the ball in the sugar bowl and roll it around until it is completely coated in sugar. Place on the baking sheet 2 inches apart. You can get 12 balls on a baking sheet.

Bake for 6-8 minutes, remove from oven and insert a cold Hershey's kiss in the center. The cookie will crack a bit, that's expected, and return them to the oven and bake for an additional 2-3 minutes until the cookies are golden.

Remove from oven and allow them to cool on the baking sheet for a few minutes before transferring to a cooling rack.