Preheat oven to 375°F (190°C). Line baking sheets with parchment paper.
In a large bowl, cream together the softened butter and granulated sugar until light and fluffy.
Beat in the peanut butter and egg until well combined.
Stir in the vanilla extract.
In a separate bowl, whisk together the flour, baking soda, and salt.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Do not overmix.
Roll the dough into 1-inch balls and place them about 2 inches apart on the prepared baking sheets.
Bake for 9-11 minutes, or until the edges are lightly golden brown.
Remove from oven and immediately press one Hershey's Kiss into the center of each warm cookie. The cookie will crack slightly; this is normal. The kiss will soften and create a blossom shape.
Let the cookies cool on the baking sheets for a few minutes before transferring them to a wire rack to cool completely.
Notes
For an extra pretty look, you can gently unwrap the Hershey's Kisses before you start baking the cookies.