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In medium bowl stir together Flour, cocoa powder and baking soda; set aside.
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Mix butter, granulated sugar, brown sugar, and 1/4 Cup of the peanut butter; beat this with mixer until well blended. Add egg, milk and vanilla and beat well.
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Beat in flour mixture.
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Shape this dough into 32 balls.
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For filling combine powdered sugar and remaining 1/2 Cup peanut butter with a mixer until its smooth; you might have to knead it a couple of times if it crumbles.
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Shape this dough into 32 balls (these will be smaller).
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Flatten each chocolate dough ball.
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Top with peanut butter dough ball.
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Shape chocolate ball around peanut butter ball and roll it all into one big ball.
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flatten with bottom of glass.
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Drop the flattened cookie into granulated sugar to coat just the one side.
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Bake in preheated 350 for 8 minutes.