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In a large bowl or stand mixer, cream together butter and sugar until light and fluffy, 5 to 7 minutes. Beat in the egg yolk (save the egg white in a bowl for the next step), milk and vanilla. Combine the flour, cocoa and salt, gradually adding the dry ingredients to the creamed mixture, and mix well. Cover the dough and pop it in the fridge until it's easy to handle, or about 1 hour.
Preheat oven to 350°F. In a small bowl, whisk the egg white until foamy. Shape the dough into 1-inch balls; dip in egg white, then roll in nuts. Place on a greased baking sheet. Using a wooden spoon handle, make an indentation in the center of each cookie. Bake until center is set, 10 to 12 minutes.
For the filling, combine the confectioner's sugar, butter, milk and vanilla, stirring until smooth. Spoon or pipe ¼ teaspoon into each warm cookie, and then gently press a chocolate kiss in the center. Carefully remove from pans to wire racks to cool completely.