Heat oven to 375.  In large bowl, cream sugar, brown sugar and butter.  Blend in peanut butter, milk, vanilla & eggs.  Stir in flour, baking soda and salt.  Shape dough into 1 inch balls.  Place 2 inches apart on ungreased cookie sheet.  Flatten balls in criss cross pattern with fork dipped in sugar.  Bake at 375 for 10 -12 min or until golden brown.