Preheat oven to 375°F.

1 (14 oz.) can sweetened condensed milk
3/4 c. peanut butter
2 c. Bisquick
1 tsp. vanilla

Mix peanut butter and condensed milk until creamy, add Bisquick and vanilla. Roll into 1 inch balls and roll in sugar. Bake 8-10 minutes. Add Hershey kiss in center of ball as soon as they come out of oven. Put them in refrigerator to keep them hard.