Preheat the oven to 375°F.
Combine the flour, baking soda and salt in a medium bowl and mix well.
Combine 1 cup granulated sugar, brown sugar, peanut butter, shortening, egg, milk and vanilla extract in a large bowl. Beat with an electric mixer set at low speed until well blended.
Add flour mixture to granulated sugar mixture and beat until well blended.
Shape the dough into 1-inch balls. Roll balls in remaining granulated sugar.
Arrange balls on baking sheets. Bake until browned, about 8 to 10 minutes. Press a candy kiss in center of each cookie. Remove cookies to wire racks to cool completely.
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