Preheat your oven to 375 degrees. Line rimmed baking sheets with parchment paper and set aside.
In a large bowl, whisk together the flour, salt, and baking soda. Set aside.
Using a handheld or stand mixer, beat together the peanut butter and butter until smooth. Add in the granulated and brown sugar, and beat until fluffy, between 3 and 6 minutes.
Add in the egg, then the milk, and then the vanilla. Fully blend in each ingredient before adding another.
Add the flour mixture all at once. With the mixer on low, mix in just enough so that there is not a loose flour - about 15 seconds. Turn the mixer on high, and mix the flour in just enough so that you do not see streaks of white. Be sure to scrape the bottom to bring up any loose flour.
Scoop out 1 1/2 tablespoons worth of dough, roll into a ball, roll the ball in the extra granulated sugar, and set on the parchment lined baking sheets. I like using a cookie scoop for this. (See recipe notes about making 4 dozen cookies instead of 2 dozen.)
Bake for 8 to 10 minutes or until the cookies begin to lightly brown aroudn the edges. While the cookies are baking, unwrap the chocolate kisses.
Immediately after pulling cookies out of the oven, lightly press one Hershey's kiss or one chocolate star into the center of each cookie. Let cool on the baking sheet for two minutes before transfering to a wire rack to cool completely.
Enjoy right away or store in an air tight container for up to one week.
If you would like to make four dozen cookies instead of two dozen, roll 1 inch balls. The cooking times and the rest of the instructions can remain the same.