Preheat oven to 375 degrees
Mix two cans of sweetened condensed milk and two teaspoons of vanilla with one and a half cups of peanut butter.
Add in four cups of Bisquick, one at a time, and mix well. Shape into balls approximately 1-2 inches, roll in sugar until coated.
Place on a cookie sheet spaced apart and bake eight to ten minutes. Press a chocolate kiss into the cookie while still warm and enjoy!
This recipe works well with the gluten free Bisquick as well.