Preheat the oven to 350°F and line a baking sheet with parchment paper or a silicone baking mat.
In a mixing bowl, cream the peanut butter, granulated sugar, and brown sugar until smooth and fluffy.
Add the egg and vanilla extract and mix just until combined.
Scoop the dough into tablespoon-sized portions and roll into smooth balls.
Place the dough balls on the prepared baking sheet, spacing them evenly.
Bake for 8 to 10 minutes, until the edges are set but centers remain soft.
Remove from the oven and immediately press a Hershey Kiss into the center of each cookie.
Let the cookies cool completely on the baking sheet before serving or storing.