Preheat oven to 375°.
Combine the milk and peanut butter in a large bowl. Beat with a mixer at high speed until creamy. Stir in the baking mix and vanilla. Combine.
Coat hands lightly with cooking spray, and shape dough into 40 ping-pong-size balls and roll in sugar. Place cookies 2 inches apart on nonstick baking sheets.
Bake cookies 9 minutes per batch or until lightly browned. Place 1 chocolate kiss in the center of each cookie. Cool on pan 3 minutes; remove cookies from pan. Cool completely on wire racks.
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