In a medium bowl, whisk together the flour, baking powder, baking soda and salt. Set aside.

In the bowl of an electric mixer fitted with the paddle attachment or beaters, beat the butter, peanut butter, brown sugar, granulated sugar, and vanilla on medium speed until well combined, about 1 minute. Scrape down the sides of the bowl with a rubber spatula. Add the egg and beat until incorporated, about 20 seconds more. Add the dry ingredients and mix on low speed until just combined, scraping the sides of the bowl as necessary. Refrigerate the dough for about 1 hour, or until firm enough to roll.

Preheat the oven to 350°F and set an oven rack in the middle position. Line a baking sheet with parchment paper. Place about ½ cup granulated sugar in a small bowl for rolling.

Roll the dough into tablespoon-size balls, then roll in the granulated sugar; place 2 inches apart on the prepared baking sheet. Bake until puffed, 8 to 9 minutes. Remove the baking sheet from the oven and lightly press a Hershey's kiss into the center of each cookie (the dough will crack slightly). Return the cookies to the oven and bake until the cookies are golden and the chocolate is glossy, about 2 minutes more. Let the cookies cool on the baking sheet for a few minutes, then transfer to a wire rack to cool completely. Repeat with the remaining cookie dough, storing the dough in the refrigerator between batches. Store the cookies in a single layer in an airtight container for up to 3 days.