Preheat your oven to 350°F (175°C). Line a baking sheet with parchment paper to prevent sticking.
In a medium bowl, whisk together the all-purpose flour, baking soda, baking powder, and kosher salt. Set aside.
In a large mixing bowl, cream the unsalted butter, creamy peanut butter, dark brown sugar, and granulated sugar using an electric mixer on medium speed until the mixture is light and fluffy.
Beat in the eggs, one at a time, followed by the pure vanilla extract, mixing until fully incorporated.
Gradually add the dry ingredients to the wet mixture, mixing on low speed until just combined. If the dough seems too stiff, add a tablespoon of milk to loosen it.
Using a cookie scoop, portion out the dough and roll it into balls about 1 inch in diameter. Place them on the prepared baking sheet, leaving enough space between each ball.
Bake the cookies in the preheated oven for 10-12 minutes, or until the edges are lightly golden but the centers are still soft.
Remove the cookies from the oven and immediately press a Hershey’s Kiss into the center of each cookie. Let them cool on the baking sheet for a few minutes before transferring them to a cooling rack.
