Preheat oven to 375º F. Line rimmed baking sheets with parchment paper or silicon baking mat.
Cream together butter, peanut butter, sugars, vanilla, milk, and egg.
Whisk together all dry ingredients (flour, cocoa powder, baking soda, baking powder and salt, and cream with peanut butter mixture until just combined. Be careful to not over mix.
Scoop 1 tablespoon of dough and roll into a ball and then roll in sugar and place on baking sheet about 2 inches apart as the cookies will spread.
Place in preheated oven and bake between 10 - 15 minutes, depending on your oven.
Remove from oven, press chocolate candies into the center of each cookie and allow to sit for about 2 minutes to cool before removing to a wire rack to cool completely.