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Preheat the oven to 350 degrees and line a baking sheet with parchment paper.
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In a large bowl, cream together butter and peanut butter until well incorporated. Add in brown sugar and white sugar; cream. Beat in the egg, scraping down the sides of the bowl as necessary. Lastly, add in vanilla extract and salt. Set aside.
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In a separate bowl, sift together flour, cocoa powder, baking soda, and espresso powder. Slowly incorporate the dry ingredients into the wet ingredients. Dough will be thick.
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Once combined, add in milk, beginning with 2 Tbsp. If the dough still seems extra thick, add in the last Tbsp.
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Add in 1/2 cup semi-sweet chocolate chips and 1/2 cup peanut butter cups; mix.
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Chill the dough for 30 minutes (it makes it easier to handle when stuffing with the caramel candies).
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Place 1 Tbsp of dough in the palm of your hand, and flatten slightly (like pictured above). Place a caramel candy in the center, and cover with another 1 Tbsp of dough, and roll into a ball.
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Place the dough evenly on a cookie sheet, about 6 per tray.
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Bake for 14-16 minutes, or until the tops of the cookies look firm.
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Enjoy with DREYER'S Candy Ice Cream!