Preheat oven to 375 degrees.
In a large bowl, whisk peanut butter and milk until smooth.
Add the Bisquick and vanilla to the peanut butter mixture. Blend together until ingredients are well distributed. Using your hands, shape dough into 1-inch balls. Sprinkle the brown sugar on a plate and roll the balls in the sugar to cover.
On an ungreased baking sheet, flatten the cookies using a spoon or your hand, and bake for approximately 5–7 minutes.
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