Using a large mixing bowl, whisk together the flour, baking soda, cinnamon and salt; set aside. Using an electric mixer, cream together the butter, peanut butter, ½ cup granulated sugar and light brown sugar. Add the egg, milk and vanilla; beat until blended. Gradually add in the flour mixture with the mixer on low speed until everything is incorporated. If the dough is very soft, refrigerate for about 1 hour.
Preheat your oven to 375 degrees. Line a baking sheet with parchment paper and set aside. Roll the dough into 1 1/2-inch balls.
Pour about a ½ cup of granulated sugar and mix in 2 teaspoons of ground cinnamon*. Mix together. Roll the cookie dough balls in the cinnamon sugar mixture and place about two inches apart on your baking sheet.
Bake for about 10 to 11 minutes, or until lightly browned. Remove from oven and immediately press a HERSHEY’S KISSES Milk Chocolate flavored candies into center of each cookie, allowing it to crack slightly. Let cool completely and enjoy!