Preheat oven to 375°.
In a mixer bowl, add butter, peanut butter, 1/3 cup sugar and 1/3 cup brown sugar. Beat at medium speed until fluffy.
Add egg, milk and vanilla and mix until combined.
Next, add flour, baking soda and salt. Mix on low speed until incorporated and then raise to medium speed about 1 to 2 minutes.
Add remaining 1/3 cup sugar to a small bowl.
Use a small cookie scoop to form cookie dough balls. Drop into bowl of sugar and roll to coat all sides.
Place on a baking sheet about 2 inches apart.
Bake for 8 to 10 minutes until edges are lightly browned.
Top each cookie with a Rolo candy, pressing it down into the cookie.
Remove to a wire rack to cool completely.
In a mixer bowl, add butter, peanut butter, sugar and brown sugar. Beat at medium speed until fluffy.
Add egg, milk and vanilla and mix until combined.
Next, add flour, baking soda and salt. Mix on low speed until incorporated and then raise to medium speed about 1 to 2 minutes.
Add remaining sugar to a small bowl.
Use a small cookie scoop to form cookie dough balls. Drop into bowl of sugar and roll to coat all sides.
Place on a baking sheet about 2 inches apart.
Bake for 8 to 10 minutes until edges are lightly browned.
Top each cookie with a Rolo candy, pressing it down into the cookie.
Remove to a wire rack to cool completely.