NY Times Peanut Butter Blossoms

Name: NY Times Peanut Butter Blossoms
Cuisine: American
Ingredients: 1 ¾ cups all-purpose flour; 1 teaspoon baking soda; ½ teaspoon salt; 4 ounces (1 stick) butter, at room temperature; ½ cup smooth peanut butter; ½ cup granulated sugar, more for rolling; ½ cup light brown sugar; 1 large egg; 1 tablespoon milk; 1 teaspoon vanilla; Nonstick spray or vegetable oil for cookie sheet, optional; 5 dozen (one 11-ounce package) Hershey’s Kisses, foil removed