Jennah's Famous Peanut Butter Blossoms

Ingredients (6)

• + 2 cups baking mix (such as Bisquick ®) add to pantry
• ✓ 1 (14 ounce) can sweetened condensed milk (such as Eagle Brand®)
• + ¾ cup peanut butter (such as Jif®) add to pantry
• + 1 teaspoon vanilla extract add to pantry
• ✓ ¼ cup white sugar, or as needed
• + 30 unwrapped milk chocolate candy kisses (such as Hershey's Kisses®), or as needed add to pantry