Preheat oven to 375 degrees F. Line insulated baking sheets with parchment paper or silicone baking mat.
Combine shortening, peanut butter, brown sugar, milk and vanilla in large bowl. Beat with electric mixer at medium speed until well blended. Add egg. Beat just until blended.
Combine flour, salt and baking soda. Add to creamed mixture at low speed. Mix just until blended.
Roll dough into 1-inch balls and roll in granulated sugar.
Place 2 inches apart onto prepared baking sheet. Bake for 8-10 minutes, or until set and lightly brown.
Remove from oven and immediately press a Hershey's Kiss gently into the center of each cookie. The sides may crack and that's fine.
Cool 2 minutes on baking sheet. Remove cookies to racks to cool completely.
Notes
These cookies will store well at room temperature in an airtight container for about 3 days. If you would like to keep them longer, you can freeze them.
To freeze, place cool cookies on a wax paper lined baking sheet, put them close together, but not touching. Freeze for 2-3 hours, then remove to a freezer bag. Thaw at room temperature.You can also freeze the cookie dough. You can either wrap the whole batch of dough in plastic wrap then place it in a freezer bag, or portion the dough into dough balls first. Freeze the individual dough balls on a wax paper lined sheet for a couple hours. Place frozen dough balls in a freezer bag.To bake, preheat the oven according to the recipe. Remove frozen dough balls and place on baking sheet to thaw while oven preheats. Bake according to recipe instructions.