In large mixing bowl, cream together butter, peanut butter, granulated sugar and brown sugar. Add one egg at a time, mixing well. Stir in milk and vanilla.
2In a separate bowl, combine flour, baking soda and salt. Stir into the peanut butter mixture a little at a time blending well. Shape dough into balls, roll in granulated sugar and place on ungreased cookie sheet.
3Bake for 10 minutes until slightly brown. Remove from oven and immediately press a chocolate candy kiss into the center of each cookie.