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Preheat oven to 350 degrees then line a baking sheet with a silpat or parchment paper and set aside. Scoop some granulated sugar into a bowl then set aside.
Add butter, sugars, and peanut butter to the bowl of an electric mixer, or to a large glass bowl if using a handheld mixer, then cream until light and fluffy, about one minute. Scrape down the sides of the bowl then add the egg and vanilla and mix until just combined.
In a separate bowl, whisk together flour, baking soda, and salt then add to the wet ingredients in two batches, mixing until just combined before adding the next batch.
Scoop 1 Tablespoon batter at a time into the sugar bowl then gently turn to coat and place on prepared baking sheet. Bake until the tops of the cookies just barely begin to crack, 8-9 minutes (err on the side of under-baking vs over-baking), then remove from oven and gently press a Herhsey Kiss into the center of each cookie. Transfer cookies to a cooling rack then let cool completely.