In a large mixing bowl, combine the softened butter, white sugar, brown sugar, and creamy peanut butter. Beat together with an electric mixer or by hand until the mixture is light and well creamed. I find that room temperature butter and peanut butter blend together smoother and give the cookies a better texture.

Add the eggs to the creamed mixture and beat well until fully incorporated.

In a separate bowl, whisk together the all-purpose flour, baking soda, baking powder, and salt until well combined.

Gradually add the dry ingredients to the creamed mixture, alternating with the milk. Mix well between additions, scraping down the sides of the bowl as needed, until a smooth dough forms.

Scoop about 1-inch sized balls of dough and roll or dip the tops in a small bowl of sugar. Place the dough balls at least an inch apart on greased cookie sheets.

Bake in a preheated oven at 350°F (175°C) for 11–12 minutes, or until the bottom edges are lightly browned. I always watch closely at the end of the baking time, as every oven is a bit different.

Remove the cookies from the oven and immediately press a Hershey Kiss into the center of each cookie. Transfer the cookies to a wire rack to cool completely, allowing the chocolate to set before stacking the cookies.