In a medium size bowl, whisk together the flour, baking soda, salt, and cinnamon. Set aside.
In a large bowl with a handheld mixer or the bowl of a stand mixer fitted with the paddle attachment, cream together the butter, brown sugar, and 1/2 cup of the granulated sugar on medium speed until light and fluffy (approximately 3 minutes). Add the peanut butter and beat again on medium speed until combined, scraping down the sides and bottom of the bowl as necessary. Add the egg and vanilla and beat again until completely combined.
Turn the speed down to low and slowly add the flour mixture until dough forms. Cover the bowl with plastic wrap and chill in the refrigerator at least 45 minutes or up to 2 days.
When you are ready to bake the cookies, preheat oven to 350ºF. Line a baking sheet with parchment paper or a silicone baking mat and make room in the freezer for the baking sheet.
Fill a shallow dish with the remaining 1/3 cup of granulated sugar. Using a cookie scoop (I use this #50 cookie scoop for all of my standard size cookies), roll chilled dough into balls with your hands. Roll each dough ball into granulated sugar then place on baking sheet. Allow room for spreading. I bake 8 cookies per baking sheet.
Bake cookies for 9 minutes, until the sides begin to form slight cracks. Cookies will look under-baked. For crunchier cookies, bake for 10 minutes. Allow cookies to cool for 8 minutes on the baking sheet. Quickly press a Hershey's Kiss into the top of each cookie. Cookie will likely crack. This is ok. Immediately put the the baking sheet in the freezer so the cookie does not completely melt the Kiss. Allow the chocolate to set at least 15 minutes in the freezer. Cookies stay fresh in an airtight container up to 10 days.