1. Heat oven to 350 degrees. Spray mini muffin pans with Pam cookin spray. Set aside.
2. Combine sugar, brown sugar, butter and peanut butter in large bowl. Beat at medium speed, scraping bowl often, until creamy. Add egg and vanilla; continue beating until well mixed. Reduce speed to low; add flour, baking soda and salt. Beat, scraping bowl often, until well mixed.
3. Shape dough into 1-inch balls. Place each ball into prepared mini muffin cup. Bake for 11 to 13 minutes or until lightly browned.
4. Remove from oven; press peanut butter cup into center of each cookie. Cool 30 minutes. Remove from pans. Cool completely.