Preheat the oven to 375°F. Prepare cookie sheets with either baking mats, parchment paper, or spray lightly with cooking spray.
In a medium bowl, combine the flour, baking soda, baking powder, and salt. Set flour mixture aside.
In a large bowl with a hand mixer, cream the butter on medium speed for 1 minute. Add the brown sugar and ½ cup granulated sugar and mix on medium speed until well combined. Add the eggs, vanilla, and peanut butter. Mix until well combined.
Add the dry ingredients to the mixing bowl. Starting on low speed and then gradually adjusting to medium, mix well.
Refrigerate dough for 20 minutes.
Place the remaining 6 tablespoons of granulated sugar into a small bowl. Using a 1 tablespoon cookie scoop, drop the dough of two cookies into the sugar bowl.
Form the dough of each cookie into a log about 2½ inches long. Roll the logs of cookie dough in the sugar to coat and place them on the prepared cookie sheet, 2 inches apart.
Using the tines of a fork, make a criss-cross pattern into the dough, pressing down so that the dough is about ¼ inch thick.
Using your thumb and index finger, give each cookie a “waist” by pinching each cookie in the middle, giving it a peanut shape. The cookies will spread some when baking, so make sure this waist is rather substantial. Repeat this step for the rest of the dough.
Bake cookies for 7 minutes. Let rest on the pan for 1 minute and then remove from each cookie in the middle, giving it a peanut shape. The cookies will spread some when baking, so make sure this waist is rather substantial. Repeat this step for the rest of the dough.
Bake cookies for 7 minutes. Let rest on the pan for 1 minute and then remove from pan to cool completly.