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heat oven to 375°F. place sheets of foil on countertop for cooling cookies.
place brown sugar, peanut butter, shortening, milk and vanilla in large bowl. beat at medium speed of electric mixer until well blended. add egg; beat just until blended.
combine flour, baking soda and salt. add to shortening mixture; beat at low speed just until blended.
shape dough into 1-inch balls. roll in granulated sugar. place 2 inches apart on ungreased baking sheets.
bake one baking sheet at a time at 375°F for 6 minutes. press chocolate kiss into center of each cookie. bake 3 minutes longer. do not overbake. cool 2 minutes on baking sheet. remove cookies to foil to cool completely.