Cream sugars, margarine, and peanut butter in large mixing bowl. Beat in eggs, milk, and vanilla with wooden spoon. In a separate bowl, stir together flour, soda, and salt. Stir into egg and sugar mixture. Shape dough into 1 inch balls, roll in sugar, and place 2 inches apart on ungreased cookie sheet. Bake for 10 to 12 minutes at 350 degrees. Remove from oven and immediately press a kiss into each cookie.
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