Preheat your oven to 350°F (175°C) and line two baking sheets with parchment paper.
In a stand mixer fitted with the paddle attachment (or using a hand mixer), cream together ½ cup unsalted butter, ½ cup light brown sugar, and ¼ cup granulated sugar on medium speed until the mixture is light and fluffy, about 3 minutes.
Add ½ cup creamy peanut butter to the creamed mixture and continue mixing for 1–2 minutes until fully incorporated.
Add 1 large egg and 1 teaspoon vanilla extract to the mixture. Mix until the ingredients are fully combined and the mixture is smooth.
In a separate bowl, whisk together 1⅓ cups all-purpose flour, ¾ teaspoon baking soda, and a pinch of salt.
Gradually add the dry ingredients to the wet mixture, mixing just until the dough comes together. Be careful not to overmix.
Scoop dough into 1-tablespoon portions and roll each into a ball between your palms.
Roll each dough ball in ¼ cup granulated sugar to coat evenly.
Arrange the sugar-coated dough balls on the prepared baking sheets, spacing them about 2 inches apart.
Bake in the preheated oven for 8 minutes, until the cookies are puffed and just starting to crack on top.
Immediately press 1 unwrapped Hershey’s Kiss into the center of each warm cookie.
Return the cookies to the oven and bake for an additional 2 minutes, just until the kisses begin to soften.
Let the cookies cool completely on the baking sheet before serving or storing.