Whisk together flour, baking soda, baking powder and salt, set aside.
Cream butter, peanut butter, granulated sugar and brown sugar until light and fluffy. Add egg, milk and vanilla. Beat until fully combined.
Gradually add flour mixture, stir until fully mixed. Refrigerate the dough for at least 1 hour.
Preheat the oven to 375 degrees F. Line a baking sheet with a silicon baking mat or parchment paper.
Roll dough into 1.5 inch balls. Roll dough balls in sugar and place 2 inches apart on the cookie sheet. Bake until puffed and just starting to crack, 8 - 10 minutes.
Remove cookies from the oven and press a chocolate kiss into the center of each cookie, allowing it to crack slightly. Cool cookies on baking sheet for a few minutes before transferring cookies to a wire rack to cool completely.