How to Make It
Beat condensed milk and peanut butter at medium speed with an electric mixer until creamy. Add baking mix and vanilla, beating at low speed just until blended.
Shape dough into 1-inch balls; roll in sugar. Place on lightly greased baking sheets.
Bake at 350° for 11 minutes. Remove from oven, and immediately place a chocolate kiss in center of each cookie. Remove cookies to wire racks to cool.