Add softened butter to a large bowl along with the peanut butter, brown sugar, ½ cup of white sugar, egg, and vanilla extract. Beat on medium speed with a handheld mixer for 20-30 seconds, or until combined.
Add 1 cup of flour, baking soda, baking powder, and salt to the bowl. Whisk just the dry ingredients with a fork or whisk so they’re evenly distributed. Beat everything together on medium speed until the flour is incorporated into the wet ingredients. Add in the rest of the flour ¼ cup at a time until it is well combined.
Scoop out 1 ½ tablespoons worth of cookie dough and then roll it into a ball. Add the cookie dough ball to a medium-sized bowl with the remaining ¼ cup of sugar in it. Toss the ball in the sugar until it is completely coated and place on a large plate. Repeat this with the remaining cookie dough. Refrigerate the balls for at least 2 hours so the dough can firm up.
Once almost done chilling, set the oven to 375 degrees. Add the cookie dough to a parchment paper lined baking sheet, making sure the balls are at least 1-inch apart.
Bake cookies in the preheated oven for 8-10 minutes. As soon as they are done baking, sink a Hershey’s kiss into the middle of each cookie and then give it a slight twist to ensure the cookie sticks to the chocolate.
Let the cookies cool to room temperature before serving or storing. Enjoy!