In a bowl, whisk together flour, baking soda, and baking powder. Set aside.
In the large bowl of a stand mixer, beat together the butter, peanut butter, and both sugars until the mixture is light and fluffy, about 2 minutes on medium-high.
At medium-low speed, add eggs one at a time and vanilla, mixing until well incorporated. At low speed, slowly mix in the dry flour mixture. When dough is combined, wrap tightly in cling wrap, and place in fridge to chill for at least an hour.
Preheat oven to 375F with rack on lower-middle position. Line cookie sheet with parchment paper or silicone mat. Set aside.
Form cookie dough into 1.5" balls and flatten into circles, about 1/2" thick. Use a fork to make deep criss cross pattern on each cookie. Keep rest of dough in fridge while you make one batch at a time.
Bake 8-10 minutes, or just until edges are lightly browned. Sprinkle hot cookies with granulated or coarse sugar. Cool a few minutes on baking sheet and finish cooling completely on wire rack.
While cookies cool, make the filling: Beat together the butter and peanut butter with electric mixer or stand mixer until smooth and fluffy - this will take several minutes. Gradually add in powdered sugar and beat until filling is smooth. Add 1 tablespoon milk at a time, until desired consistency.
Fill completely cooled cookies evenly with filling and enjoy.
Notes
Use room temperature butter and peanut butter so they blend smoothly and create a light, fluffy dough.
Don’t skip chilling the dough. It helps the cookies hold their shape and keeps them from spreading too much while baking.
Make deep crisscross marks with a fork to give the cookies their classic look and even baking surface.
Bake just until the edges turn golden. The centers should still look soft – they’ll firm up as they cool.
Let cookies cool completely before adding the filling to prevent it from melting or sliding out.
Add milk to the filling gradually until it’s creamy and easy to spread but thick enough to stay put between cookies.
Use a piping bag or zip-top bag for neat, even filling. It makes assembling the sandwiches quick and tidy.
For bite-size cookies, roll smaller dough balls and reduce the bake time by a minute or two.
Store cookies in an airtight container at room temperature for up to 4 days, or refrigerate for longer freshness.
Freeze the baked cookies or dough for up to 2 months. Thaw before assembling or baking for a quick treat anytime.
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