Peanut Butter Mochi Cookies

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For the Dough:

1 1/2 cups all-purpose flour

1 teaspoon baking soda

1 teaspoon kosher salt

1 stick unsalted butter, at room temperature

1/2 cup granulated sugar, plus more for rolling

1/2 cup packed light brown sugar

1/2 cup creamy peanut butter (not natural)

1 large egg

1 1/2 teaspoons pure vanilla extract

For the Filling:

3/4 cup mochiko (glutinous rice flour or sweet rice flour)

1/3 cup confectioners’ sugar

1/4 teaspoon kosher salt

3/4 cup whole milk, warmed

1 tablespoon unsalted butter, melted

1/2 teaspoon pure vanilla extract

Cooking spray

For the Glaze:

3/4 cup creamy peanut butter (not natural)

1/4 cup confectioners’ sugar