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I’m in the camp of those who prefer soft cookies, and these little gems are perfection to me!
Preheat oven to 350 degrees.
In a medium bowl combine the flour, baking soda, baking powder and salt, and set aside.
In a large bowl, beat together the butter and peanut butter until fluffy. Add the sugars and beat until smooth.
Beat in the egg, and then add the milk and vanilla.
Pour in the flour mixture and beat until completely incorporated.
Stir in the peanut butter and chocolate chips.
Place the sugar for rolling dough in a small bowl.
Use a cookie scoop or tablespoon to scoop up walnut-sized balls of dough. Roll the cookie dough in the granulated sugar, then place on an ungreased cookie sheet. This is very soft dough and the cookies will spread some, so leave plenty of space between the cookies.
Using a fork, gently press each cookie with a criss-cross pattern, but do not flatten the cookies.
Bake for 10 to 12 minutes. Do not over bake. Cookies may appear to be underdone, but they are not.
Cool the cookies on the sheets for 1 minute, then remove to a rack to cool completely.