Preheat oven to 350 degrees Fahrenheit and line 2 baking sheets with parchment paper.
In a large mixing bowl, add all cookie ingredients and use a fork or electric mixer to combine. The dough will be a little sticky, this is what you want. (If it’s really sticky and sticking to your hands, chill in the fridge for 30 minutes or freezer for 10 minutes).
Optional – At this point you can either continue the recipe or place the dough, covered, in the fridge for 12-24 hours to long ferment for more sourdough fermentation benefits.
Pinch off 1 tsp sized pieces of dough and use your hands to roll them into balls. When placing on sheet pan, pair dough balls in twos to make the peanut shape. Leave space around each pair on sheet pan. Repeat until all dough is used up.
Use a fork to gently press each ball of dough flat, then press down again the opposite way to make a cross-hatch pattern. Dip fork in flour if sticking to cookies.
Bake cookies at 350 degrees Fahrenheit for 20-22 minutes until dark golden brown and a little crisp. They’ll crisp up even more after cooling.
While cookies bake, combine all filling ingredients into a mixing bowl (use 3 Tbsp milk first then add the 4th if needed, consistency will depend on peanut butter brand used).
Combine with an electric mixer or fork. Place in fridge until cookies are baked and cooled, this helps it thicken a little.
When cookies finish baking, remove from sheet pans and place on wire cooling racks. Let cool completely before filling.
When cooled, pair cookies in twos, flipping one of each pair upside down to be filled.
Grab filling from fridge and scoop into a zip top bag (a sandwich bag) or regular piping bag. If using the zip top bag, cut off a tiny part of one corner so it's open for piping.
On each cookie that's turned upside down (one side of each pair), pipe a good sized blob of filling on both circles of the upside down cookie. Repeat with the rest, until all filling is used up.
Add top cookies to make cookie sandwiches, lightly press down, and enjoy!