Preheat the oven to 350°F (175°C). Line two baking sheets with parchment paper.
In a large bowl, combine the peanut butter, granulated sugar, egg, and 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 on the prepared baking sheets about 2 inches apart.
Bake the cookies in the preheated oven for 8 to 10 minutes, or until the edges are lightly golden.
Remove the cookies from the oven and immediately press one Hershey’s Kiss into the center of each cookie. The cookie will crack slightly around the edges, which is normal.
Allow the cookies to cool on the baking sheets for 5 minutes, then transfer them to a wire rack to cool completely.