Start by preheating your oven to 350°F (175°C). This will ensure that your cookies bake evenly.
In a large mixing bowl, combine the sweetened condensed milk, peanut butter, and vanilla extract. Stir until well blended.
Gradually add the Bisquick mix to the peanut butter mixture, stirring until a dough forms. The dough will be thick and slightly sticky.
Using your hands or a cookie scoop, form the dough into 1-inch balls. Roll each ball in sugar to coat.
Place the sugar-coated dough balls on a baking sheet lined with parchment paper, spacing them about 2 inches apart.
If you’re adding Hershey Kisses, gently press one into the center of each dough ball.
Bake in the preheated oven for 10-12 minutes or until the edges are lightly golden. The centers might look a little soft, but they will firm up as they cool.
Allow the cookies to cool on the baking sheet for a few minutes before transferring them to a wire rack to cool completely. Enjoy your delicious Bisquick Peanut Butter Cookies with a glass of milk or your favorite beverage!
