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Pre-heat oven to 375 degrees Fahrenheit. Then add brown sugar, egg and peanut butter into a large mixing bowl, and mix thoroughly.
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Next, add the milk vanilla, and baking soday. Mix well.
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Then, add the softened butter and mix on medium for about 2 minutes.
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Next, add the flour, ½ cup at a time, making sure to mix well after each addition.
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Then, roll into 1 inch balls and place on a prepared cookie sheet that has parchement paper on it.
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Flatten with the tines of a fork to make the classic criss-cross look of a peanut butter cookie. Finally, bake for 7-8 minutes, rotating half-way through.
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Then, let them sit on the cookie sheet for an additional minute after they are out of the oven before transferring them to a cooling rack. Enjoy!