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Preheat oven to 375 degrees.
In a large mixer bowl, beat sweetened condensed milk and peanut butter until smooth. Add Bisquick and vanilla; mix well.
Shape into 1-inch balls. Roll in sugar and place 2 inches apart on a baking sheet.
Bake 6-8 minutes. Press Hershey's kiss in center of each ball IMMEDIATELY after baking.
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