Preheat oven to 375°F. Line a baking sheet with parchment paper or a silicone baking mat. Set it aside.
Combine the butter, peanut butter, and sugars in a large bowl. Cream for 1-2 minutes until fluffy. Add in the egg, egg yolk, and vanilla extract. Mix again until combined.
Add in the flour, baking soda, and salt. Mix until completely combined and the cookie dough is smooth.
In a small bowl, combine the ⅓ cup granulated sugar and 1 ½ teaspoons cinnamon. Mix well. Use a small cookie scoop to scoop out the dough. Roll each scoop into a ball, then roll each one in the cinnamon sugar mixture. Place each dough ball 2 inches apart onto the prepared baking sheet. Bake the cookies for 8-9 minutes.
Once out of the oven, immediately press an unwrapped Hershey kiss gently into the top of each cookie. Allow the cookies to cool on the pan for a few minutes, then carefully transfer them to a cooling rack.