1Heat oven to 375°F. In large bowl, stir milk and peanut butter until smooth. Stir in Bisquick mix and vanilla.
2Shape dough into 1 1/4-inch balls. Roll tops in sugar. Place sugar side up 2 inches apart on ungreased cookie sheets.
3Bake 8 to 10 minutes or until bottoms of cookies just begin to brown. Immediately press chocolate candy into top of each cookie. Remove from cookie sheet to cooling rack.