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Preheat oven to 375 degrees F. Line two baking sheets with parchment paper.
In a large bowl, cream together shortening, peanut butter, brown sugar, and 1 cup granulated sugar until smooth. Add in the eggs one at a time, beating until fully incorporated. Mix in milk and vanilla.
In a large bowl, combine flour, baking soda, and salt. Gradually add to the peanut butter mixture until well blended.
Shape tablespoonfuls of dough into balls, and roll in remaining granulated sugar. Place cookies 2 inches apart on the prepared baking sheets.
Bake in preheated oven for 10 to 12 minutes. Remove from oven, and immediately press a chocolate kiss into each cookie. Allow to cool completely; the kiss will harden as it cools.