The original recipe (given to me by a friend, many years ago) calls for Pillsbury frozen peanut butter cookie dough, which I have been unable to find for some time. Now I use dough made from scratch and they turn out the same. Bake them in a mini muffin pan.
Roll a teaspoonful of dough into a ball (about 3/4"). Place into mini muffin pan. Bake according to the directions in your cookie recipe, minus 1 minute.
Meanwhile unwrap the peanut butter cups.
Remove cookies from oven and press an unwrapped Reese's cup into the middle of each cookie; press down gently. Return to oven and bake 1 minute.
Remove with spoon when cooled. Serve with ice cold milk.