Preheat the oven to 350ºF and line a baking sheet with parchment paper.

Add the flour, baking soda and salt to a bowl and whisk together until combined. Set aside.

Add the butter, brown sugar, and vanilla extract to a mixing bowl of a stand mixer and mix on medium/high speed until light and fluffy, about 4-5 minutes. Be sure to scrape the sides of the bowl throughout the 4-5 minutes.

Add the peanut butter to the bowl and mix until combined and then crack the egg into the bowl and mix until the egg is just combined.

Slowly add the dry ingredients to the wet ingredients and mix until the dry ingredients are completely combined. Add the milk and mix again.

Place the granulated sugar into a separate bowl and then use a tablespoon or tablespoon cookie scoop to scoop out a cookie dough ball into your hands. Roll the cookie dough between your hands until it forms a ball. Then, roll the cookie dough ball into the granulated sugar until coated and place it on the lined baking sheet. Repeat until there are 8-12 coated cookie dough balls on the baking sheet.

Place the baking sheet into the oven and bake the cookies for 9-11 minutes or until the tops of the cookies begin to crack.

Remove the baking sheet from the oven and let the cookies rest for 1 minute and then carefully place a peanut butter kiss into the middle of each cookie. Use a spatula to carefully remove each cookie and place it on a cooling rack.

Repeat steps 6-8 until all the cookies are baked. Let the cookies cool completely before eating or storing them in an airtight container.

Optionally drizzle them with melted white chocolate almond bark.