Sift flour and baking soda into small bowl and set aside.
Put butter and peanut butter in bowl of stand mixer or large bowl and beat until light and creamy.
Add granulated sugar and brown sugar and mix together.
Add egg and vanilla extract and beat well.
Add dry ingredients and beat just until mixed.
Form into small balls (a 1 1/2-inch diameter scoop works well). Roll in granulated sugar to cover.
Place on ungreased cookie sheet about 2-inches apart. Bake in 375°F oven for 8 minutes. Remove sheet from oven and place a milk chocolate candy kiss on top of each cookie pressing down firmly.
Return to oven and bake another 5 minutes. Remove to cooling rack and enjoy! These freeze well.
If you prefer the more common peanut butter cookies with the criss cross pattern, just press the tops with the tines of a fork in the pattern of a cross and bake for 10 to 12 minutes or until lightly browned.