Preheat the oven to 375 degrees
Remove the foil from the Hershey Kisses
In a large bowl with a hand mixer or in a stand mixer, beat together the melted butter and peanut butter until blended
Add the granulated sugar and the brown sugar and beat until fluffy
Add the eggs, milk, and vanilla and beat until combined
In a separate bowl combine the flour, baking soda, and salt
Gradually add dry ingredients to peanut butter mixture until combined
Shape dough into golf ball size rounds, roll each cookie in granulated sugar, and place on ungreased baking sheet
Bake 8-10 minutes, until golden brown
Remove from oven and immediately press a Hershey Kiss into the center of each cookie
Let cookies cool for a couple of minutes to set up, then transfer to a wire rack to cool completely