I found the recipe from The Hungry Housewife.
Peanut Butter Cookies with Chocolate Hearts
Preheat oven to 350.Line cookie sheet with parchment paper or non stick foil.
In a medium bowl, with an electric mixer, cream together the brown sugar and butter together.
Mix in the peanut butter,milk and vanilla extract.
Add the egg and beat until combined.
In a separate bowl, whisk together the flour,baking soda and salt.
Mix in the dry ingredients into the peanut butter mixture and beat until thoroughly incorporated.
Form into 1½ tablespoon balls and roll in granulated sugar.
Place on baking sheet about 1″ apart and bake for 10 minutes.
Remove from oven and gently press one Dove Heart into the middle of each cookie and place back into the oven and cook for an additional 2 minutes.
Remove from oven and allow to cool on cookies sheet for 2 minutes.
Remove from cookie sheet and allow to cool on a cooling rack completely.
The original recipe says it makes 49 cookies but I only got 30. I must have made mine too big. I bought only one bag of Dove Chocolates so it worked out fine.