Preheat the oven to 350 degrees. Line a baking sheet with parchment paper and set it aside.
In a large bowl, beat together the sugar, softened butter, egg, vanilla extract, and milk until the mixture is smooth and creamy.
In a small bowl, whisk together the flour and baking soda. Gradually add the dry ingredients to the wet mixture, mixing just until a soft dough forms.
Scoop the dough into portions and roll each one into a ball. Dip the top of each dough ball into Easter sprinkles, then place sprinkle side up on the prepared baking sheet, spacing cookies about 2 inches apart.
Bake for 8 to 10 minutes, or until the bottoms of the cookies are lightly golden. Remove from the oven and gently press a Hershey’s Kiss into the center of each cookie.
Transfer the cookies to a wire cooling rack and let them cool completely before serving or storing.
