Mix the Base:
In a medium bowl, stir peanut butter and sugar until smooth. Add milk and vanilla extract, mixing until creamy.
Add Dry Ingredients:
Sprinkle in baking soda and salt. Mix until fully combined. The dough should be thick and soft.
Chill the Dough:
Refrigerate for 20–30 minutes — this makes shaping easier and prevents spreading during baking.
Shape & Flatten:
Scoop 1 tablespoon of dough, roll into balls, and place on a lined baking sheet. Press gently with a fork in two directions to form a crisscross pattern.
Bake:
Bake at 350°F (175°C) for 10–12 minutes. Watch for slightly golden edges — they’ll continue to firm up as they cool.
Cool & Serve:
Allow to cool for 5 minutes before transferring to a rack. Enjoy warm or store in an airtight jar for up to 5 days.