Preheat oven to 375 degrees
In a large bowl combine shortening, peanut butter,and all three sugars (regular, light brown and dark brown) and cream together using a hand mixer. Add in the egg, milk, and vanilla and continue mixing until completely combined. Slowly add flour, baking soda and salt into the wet ingredients.
On a small plate measure out a small amount of regular sugar (about a 1/4 of a cup) to use for rolling the cookie dough balls in. Using a tablespoon, scoop out cookie dough and roll it in between your palms to make a smooth round shape. Roll each cookie dough ball around in the sugar until completely covered.
Place cookie dough balls onto a light greased baking sheet and bake for 8 to 9 minutes. Once you pull them out of the oven quickly place a milk chocolate kiss into the center of each cookie. The sides with puff up and crack slight. Quickly and gently remove cookies from the baking sheet onto a cooling rack. Allow 5 minutes for cooling before serving.
Store leftovers in an airtight container.