Allow the butter and peanut butter to soften at room temperature for easier handling. This will help create a soft and homogenous cookie dough.
In a large mixing bowl, cream together the butter, peanut butter, brown sugar, and powdered sugar until light and fluffy. You can use a hand whisk or an electric mixer.
Add the egg and vanilla extract, then mix thoroughly until the mixture is homogenous.
In a separate bowl, combine the flour, salt, and baking soda.
Gradually add the dry ingredients to the wet ingredients, mixing with a spatula or by hand until a moldable dough forms.
Shape the dough into small balls and place them on a baking sheet lined with parchment paper. Flatten each ball with a fork in a criss-cross pattern to create the signature peanut butter cookie design.
Preheat the oven to 350°F (180°C).
Bake the cookies in the preheated oven for about 12-15 minutes, or until the edges are lightly golden brown.
Let the cookies cool completely on a wire rack before serving or storing in an airtight container.
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