Heat oven to 350°F. In small saucepan, melt peanut butter chips over low heat, stirring occasionally. Remove from heat. Stir in frosting. Cool about 10 minutes or until firm enough to shape.
Place cookies on ungreased large cookie sheet. Bake 10 to 14 minutes or until golden brown.
Meanwhile, shape peanut butter mixture into 24 (1-inch) balls.
Immediately press 1 ball into center of each hot cookie on cookie sheet. Cool 2 minutes; remove from cookie sheet to wire rack.