Preheat the oven to 350 degrees. Line a baking sheet with a silpat mat.
Combine the flour, baking soda, baking powder, and salt together in a bowl; mix well.
With a hand mixer, beat the softened butter, brown sugar, and peanut butter together until creamy. Add the egg and vanilla; beat until well combined.
Slowly add the flour mixture to the butter mixture until combined.
Form round small balls of dough then roll them completely in the white sugar. Next, roll to coat in the powdered sugar. Place on the prepared baking sheet two inches apart.
Place into the oven and bake for 13-17 minutes, or until the edges are set and it's cracked on top. Remove from the oven and allow to cool on the baking sheet for a few minutes before moving them to a cooling rack to finish cooling. Serve with ice-cold milk. Enjoy.