Preheat oven to 350 degrees and begin unwrapping all of the mini peanut butter cups.
In a large bowl, mix together sweetened condensed milk, peanut butter and vanilla. Then mix in bisquick.
Roll dough into balls (about the size of a walnut) and then roll in white sugar.
Then put the cookie dough balls in an un-greased mini muffin pan.
Bake for 6 minutes, then remove from oven and immediately press peanut butter cups into the middle of each cookie. Then place them back into the oven to bake for 1-2 additional minutes.
Remove cookies from oven and let cool in pan for a few minutes until they are cool enough to transfer to a cooling rack.