Preheat your oven to 350°F.
In a large mixing bowl, combine the peanut butter, granulated sugar, brown sugar, eggs, and vanilla extract. Mix until well combined.
Add the baking soda and salt, then gradually mix in the flour until a dough forms.
Scoop out tablespoon-sized portions of dough and roll them into balls.
Roll each ball in granulated sugar to coat.
Place the dough balls on ungreased baking sheets, about 2 inches apart.
Bake in the preheated oven for 10-12 minutes, or until the edges are lightly golden.
Remove from the oven and immediately press a Hershey's Kiss into the center of each cookie.
Allow the cookies to cool on the baking sheet for about 5 minutes before transferring them to a wire rack to cool completely.