Preheat the oven to 375 degrees F (190 degrees C).
Grease cookie sheets.
In a large bowl, cream together the shortening, peanut butter, brown sugar, and 1 cup white sugar until smooth.
Beat in the eggs one at a time, and stir in the milk and vanilla.
Combine the flour, baking soda, and salt; stir into the peanut butter mixture until well blended.
Shape tablespoonfuls of dough into balls and roll in the remaining white sugar.
Place cookies 2 inches apart on the prepared cookie sheets.
Bake for 10 to 12 minutes in the preheated oven.
Remove from the oven, and immediately press a chocolate kiss into each cookie.
Allow to cool completely; the kiss will harden as it cools.
