Heat oven to 375. Remove wrappers from candy. Line small muffin cups with paper bake cups, if desired. Beat butter, sugar, brown sugar, peanut butter, egg, and vanilla until fluffy in large bowl. Stir together flour, baking soda, and salt. Gradually add to butter mixture, beating until well blended. Shape dough into 1 inch balls.; place one in each muffin cup. Do not flatten. Bake 10 to 12 minutes until puffed and lightly browned; remove from oven. Immediately press peanut butter cup in center of each cookie. Cool completely in muffin pan.
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