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