In a mixing bowl, combine the flour, baking soda, baking powder, and salt. Whisk to combine. Set aside.
In the bowl of a stand mixer fitted with a paddle attachment, cream together the butter and granulated sugar until well combined. Mix in egg, egg yolk, and peppermint extract until well combined. Add the flour mixture and milk and mix until combined. Chill the dough for at least 30 minutes or overnight.
Preheat the oven to 375 degrees.
Using a tablespoon-size cookie scoop, form the dough into balls and roll in granulated or colored sugar. Place on a baking sheet lined with parchment paper. Bake 8 minutes until just set. Remove from the oven and press a peppermint kiss into the center of each cookie.
Cool cookies until the peppermint kiss sets up. Store in an airtight container.