Preheat oven to 350 degrees F (175 degrees C).
Mix baking mix, sweetened condensed milk, peanut butter, and vanilla extract together in a bowl. Roll dough into 1-inch balls.
Pour sugar onto a plate. Roll balls in sugar until completely coated; arrange on a baking sheet.
Bake in the preheated oven until edges are lightly browned, about 8 minutes. Press candy kiss into the center of each cookie. Transfer cookies to a wire rack to cool.
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