Preheat oven to 350 degrees F.
In a medium size bowl, combine the sugar, peanut butter, egg, milk and mix until well combined.
Shape into 1-inch balls; roll and place on ungreased cookie sheets, place about 2 inches apart.
Bake for about 10 minutes. Immediately press 1 chocolate candy kisses in the center of each cookie. Remove from cookie sheet to cooling rack.