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Preheat oven to 375° .
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Cream together margarine, sugars, peanut butter, and eggs.
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Add vanilla.
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Sift together dry ingredients in a separate bowl.
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Add dry ingredients slowly to wet mixture.
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Dough should be somewhat firm, and you should be able to easily pick it up without it sticking to your hands. If not, add a little more flour. If dough is too stiff, add a little milk.
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Roll into tablespoon-sized balls. You can roll them in sugar as well (the 1/4 cup set aside).
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Place on an UNGREASED baking sheet 1.5 inches apart (if it is notorious for sticking, I would grease it though).
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Using a fork, flatten the balls.
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Place sheets in oven for 10-12 minutes or until darker brown around the edges.