Adjust oven rack to middle position and heat oven to 375 degrees F.

Remove wrappers from chocolates; set aside. Place about 1/2 cup sugar (for rolling) in an 8-inch cake pan or shallow dish; set aside. In a medium bowl, sift together flour, baking soda and salt; set aside.

In a large bowl, beat butter and peanut butter until well blended. Beat in granulated and brown sugars until light and fluffy. Add egg, milk and vanilla, and beat until well blended. Gradually mix reserved dry ingredients into the wet ingredients.

Using a tablespoon measure or cookie scoop, portion out dough and shape into balls about 1-inch in diameter. Drop balls into pan with sugar and shake (about 4 balls at a time) to roll balls in sugar to coat. Place balls about 2-inches apart, in staggered rows of 3-2-3-2-3, on a large ungreased cookie sheet.

Place one baking sheet at a time onto center rack of preheated 375 degree F oven. Bake until just starting to turn light golden brown, about 8 to 10 minutes, rotating baking sheet if needed for even baking. Do not over-bake. Remove from the oven and immediately place one chocolate kiss onto the center of each cookie, pressing down firmly (cookie will crack slightly around edges). Transfer cookies to a wire rack to cool completely.

Store cookies in an airtight container at room temperature for up to 1 week. Cookies freeze well.

Makes about 48 cookies.