Heat oven to 375 F. Place sheets of foil on counter top for cooling cookies.
Combine brown sugar peanut butter shortening. Mix milk and vanilla. Beat at medium speed on electric mixture. Mix until well blended. Add egg. Beat until just blended
Combine flour,baking soda and salt. Add to creamed mixture at low speed.
Drop by rounded measuring tablespoon of dough 2 inches apart onto ungreased baking sheet slighting criss cross pattern.
Bake one baking sheet at a time at 375F for 7-8 minutes or until set and just beginning to brown. DO NOT OVER BAKE. Cool cookies for 2 minutes on baking sheet. Remove cookies to cool completely.