Heat oven to 375°F. In large bowl, beat 1/2 cup granulated sugar, the brown sugar and butter with electric mixer on medium speed until light and fluffy, scraping bowl occasionally. Beat in peanut butter, vanilla and egg until well blended. On low speed, beat in flour, baking soda and salt until well combined, scraping bowl occasionally.
Shape dough into 1-inch balls; place 2 inches apart on ungreased cookie sheets. With fork dipped in 4 teaspoons sugar, flatten balls in crisscross pattern.
Bake 6 to 9 minutes or until set and golden brown. Immediately remove from cookie sheets.