Cream together butter and peanut butter.
Add the sugars, then add eggs, milk and vanilla.
Sift and add flour, soda and salt.
Chill. Form into balls. Roll in sugar. Place on greased cookie sheet.
Bake at 375 degrees for 8 minutes. Remove and add Hershey Kiss in the middle by pressing down in the center.
Return to oven for 2-3 minutes. Cool on rack.
TIP-do not flatten before baking.