Preheat oven to 375 degrees F.
Put parchment paper or baking mats onto cookie sheets.
In a large bowl, cream together the shortening, peanut butter, brown sugar, and 1 cup white sugar until smooth.
Beat in the eggs one at a time, and stir in the milk and vanilla.
Combine the flour, baking soda, and salt; stir into the peanut butter mixture until well blended.
Shape tablespoonfuls of dough into balls, and roll in remaining white sugar.
Place cookies 2 inches apart on the prepared cookie sheets.
Bake for 10 to12 minutes in the preheated oven. (Be sure not to overbake or your cookies will be hard.)
Remove from oven, and immediately press a chocolate kiss into each cookie.
Allow to cool completely; the kiss will harden as it cools.