Preheat the oven to 350°F (175°C). Line two baking sheets with parchment paper.
In a large mixing bowl, combine 1 cup creamy peanut butter, 1 cup granulated sugar, 1 large egg, and 1 teaspoon baking soda. Mix until the dough is smooth and well combined.
Roll the dough into 24 equal-sized balls, about 1 inch in diameter, and place them evenly spaced on the prepared baking sheets.
Using a fork, gently press down on each dough ball to create a crisscross pattern and flatten the cookies slightly.
Bake the cookies in the preheated oven for 10 minutes.
Remove the baking sheets from the oven and immediately press one unwrapped Hershey’s Kiss into the center of each cookie.
Return the cookies to the oven and bake for an additional 2 minutes to set the chocolate slightly.
Remove the cookies from the oven and allow them to cool on the baking sheets for 5 minutes before transferring to a wire rack to cool completely.