Preheat your oven to 350°F (175°C).
In a large bowl, mix peanut butter, granulated sugar, brown sugar, eggs, and vanilla until well combined.
In a separate bowl, whisk together flour, baking soda, and salt.
Gradually add the dry mixture to the wet ingredients, mixing until just combined.
Scoop tablespoon-sized balls of dough and roll them into balls. Place them on a baking sheet lined with parchment paper, leaving space between each cookie.
Bake for 10-12 minutes until the edges are golden brown but the centers are still soft.
Remove from the oven and immediately press a Hershey's Kiss into the center of each cookie.
Let the cookies cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.
Decorate with sprinkles if desired, while the kisses are still melty.