Heat your oven to 350°F and prepare a baking sheet by lining it with parchment paper.

Add the sugar, butter, egg, vanilla, and milk to a large mixing bowl, then beat until the mixture is light and creamy.

In a separate bowl, whisk together the flour and baking soda until evenly combined.

Slowly add the dry ingredients to the wet ingredients, mixing just until a soft dough comes together. Avoid overmixing.

Using a 1 ⅓ tablespoons cookie dough scoop, gather the dough and roll it between your hands to form a smooth ball.

Roll each dough ball in sprinkles, coating the top and sides, then place it sprinkle-side up on the prepared baking sheet. Leave about 2 inches of space between each cookie.

Bake for 8-10 minutes, until the bottoms are lightly golden and the tops look set.

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 a few minutes, then transfer them to a wire rack to cool completely.