Whisk together the dry ingredients: 2 cups flour, ½ teaspoon kosher salt, and 1 teaspoon baking soda until well combined. Set aside.

In a large mixing bowl, beat together ½ cup unsalted butter and ½ cup peanut butter until light and fluffy. Gradually add ½ cup granulated sugar and ½ cup light brown sugar, mixing until creamy.

Add 1 egg, 3 tablespoons whole milk, and 1 teaspoon vanilla extract to the creamed mixture. Mix on low speed until combined.

Slowly fold the dry mixture into the wet mixture until no flour streaks remain. Chill if too soft.

Preheat your oven to 375°F (190°C) and prepare two baking sheets lined with parchment paper.

Scoop the dough into 1.5-tablespoon-sized balls and roll in granulated sugar. Place on the baking sheets, 2 inches apart.

Bake for 11-13 minutes or until lightly golden around the edges. Don't over-bake.

Press a chilled Hershey's Kiss into the center of each cookie once out of the oven. Cool on baking sheets.

Let cool completely on a wire rack for about 10-15 minutes before serving or storing.