Preheat the oven to 350°F and line large baking sheets with parchment paper. If you haven't already, make a batch of muddy buddies (see notes below).
Cream the butters and sugars (3 min): In a large bowl using a handheld or stand mixer fitted with a paddle attachment, beat the butter, peanut butter, granulated sugar, and brown sugar on high speed until smooth and creamy, 2-3 full minutes.
1/2 cup unsalted butter, 3/4 cup creamy peanut butter, 1/2 cup granulated sugar, 1 cup light brown sugar
Beat wet ingredients (2 min): Add the eggs, vanilla, and milk, and beat until light and fluffy, another 1-2 minutes. Scrape down the sides and bottom of the bowl as needed.
2 large eggs, 1 teaspoon vanilla extract, 2 Tablespoons milk
Combine dry ingredients (2 min): Whisk the flour, baking soda, baking powder, and salt in a separate large bowl. With the mixer running on low, add the dry ingredients to the wet ingredients until combined, scraping down the sides as needed.
3 cups all-purpose flour, 1 teaspoon baking soda, 1 1/2 teaspoons baking powder, 1 teaspoon kosher salt
Scoop and bake (9 min): Using a scant large cookie scoop (about 3 tablespoons of dough), drop the cookies onto the prepared baking sheet. Roll them into balls and gently press just the tops flat with your palm slightly. Bake in the preheated oven for 9-11 minutes, until the edges are slightly golden and the tops are just set. Immediately use a large-rimmed glass to swirl the outside to form a perfect circle. Allow to cool for 5 minutes then transfer to a wire rack to cool completely.
Make the ganache (7 min): Once they’re cool, add the chocolate to a medium heat-safe bowl. Warm the heavy cream in the microwave in 30 second increments until it’s very warm, but not boiling (about 200°F). It took me 60 seconds on high. Pour the hot cream over the chocolate and let sit for 2-3 minutes. Stir with a spoon until smooth then let it sit for 2-3 minutes to set slightly.
4 ounces semi-sweet chocolate bar, 1/2 cup heavy cream
Decorate the cookies (5 min): Spoon the chocolate on top of the cooled cookies and spread towards the edges, leaving the outer part of the cookie plain. Immediately top with muddy buddies then dust with extra powdered sugar. Allow the cookies to set for at least an hour so the ganache firms up. You can put them in the fridge to speed up the process.
1/2 cup muddy buddies, Powdered sugar for dusting