Preheat your oven to 375°F (190°C). Line two baking sheets with parchment paper or silicone baking mats for easy cleanup and even baking.
In a medium bowl, whisk together the flour, baking soda, baking powder, and salt until well combined. Set aside.
1 1/2 cups all-purpose flour, 1 teaspoon baking soda, 1/2 teaspoon baking powder, 1/4 teaspoon fine salt
In a large mixing bowl or the bowl of a stand mixer fitted with the paddle attachment, beat the softened butter, granulated sugar, and brown sugar on medium speed for 2–3 minutes, until light and fluffy. Scrape down the sides of the bowl as needed.
1/2 cup unsalted butter, 1/2 cup granulated sugar, 1/2 cup light brown sugar
Beat in the creamy peanut butter until smooth and fully incorporated. Add the egg and vanilla extract and mix until the mixture is creamy and well combined.
3/4 cup creamy peanut butter, 1 large egg, 2 teaspoons pure vanilla extract
Add the dry ingredient mixture in two batches, mixing on low speed just until combined after each addition. If the dough seems crumbly or stiff, add 1–2 tablespoons of milk, mixing briefly after each addition, until you have a soft dough that holds together when rolled.
1 1/2 cups all-purpose flour, 1 teaspoon baking soda, 1/2 teaspoon baking powder, 1/4 teaspoon fine salt, 2–3 tablespoons milk
For thicker, softer cookies, cover the bowl and chill the dough in the refrigerator for 20–30 minutes. This helps prevent the cookies from spreading too much, but you can skip this step if you’re short on time.
Place the rolling sugar in a shallow bowl. Scoop the dough into 1-inch balls (about 1 tablespoon each), roll between your palms until smooth, then roll each ball in the sugar to coat. Arrange on the prepared baking sheets, spacing the balls about 2 inches apart.
1/2 cup granulated sugar
Bake one sheet at a time for 8–10 minutes, or until the edges are set and the tops are just beginning to crack. The cookies should still look soft and pale; they will continue to cook on the hot pan. Avoid overbaking for the softest texture.
While the cookies are baking, unwrap the Hershey’s Kisses. As soon as the cookies come out of the oven, immediately press one chocolate kiss into the center of each cookie, pressing down gently so the cookie edges “blossom” up around the candy.
36–40 Hershey’s Kisses
Let the cookies cool on the baking sheet for about 5 minutes, then transfer them to a wire rack to cool completely. The chocolate kisses will look soft and shiny at first but will firm up as the cookies cool.