Preheat the oven to 375°F. Line a baking sheet with parchment paper.
In a medium sized bowl, whisk together the flour, baking soda and salt. Set aside.
In a large bowl, beat to combine the shortening and peanut butter. Add 0.25 cup granulated sugar and brown sugar, beating until light and fluffy, about 2-3 minutes.
Add egg, milk, and vanilla; beating until well combined. Gradually add the flour mixture and continue beating until a dough forms.
Using a small cookie scoop and your hands, shape the dough into 1-inch balls. If you do not have a small cookie scoop, this is a little more than 1 tablespoon worth of dough for each ball.
Toss/roll each dough ball in the granulated sugar until coated, then place on the prepared cookie sheet.
Bake for 8 to 10 minutes, until ever so lightly browned on the edges. You do not want to over bake these cookies, it will dry them out!
Immediately press a chocolate kiss into center of each cookie as soon as they come out of the oven. Allow cookies to cool for 5 minutes and then transfer cookies to a cooling rack to cool completely.