1 (14 oz.) can sweetened condensed milk
3/4 cup creamy peanut butter
2 cups Bisquick
1 tsp. vanilla
sugar
Hershey's Kisses

Mix sweetened condensed milk with peanut butter until smooth. Blend in Bisquick and vanilla. Shape into 1-inch balls and roll in sugar.

Bake on an ungreased cookie sheet 6-8 minutes at 375°F. Place Hershey's Kisses on top of cookies and press down gently, immediately after taking cookies out of the oven.