1Heat oven to 375ºF. Mix milk and peanut butter in large bowl until smooth. Stir in Bisquick and vanilla.
2Shape dough into 1 1/4-inch balls. Roll in sugar. Place 2 inches apart on ungreased cookie sheet.
3Bake 8 to 10 minutes or until bottoms of cookies just begin to brown. Immediately press 1 milk chocolate candy into top of each cookie.