Heat oven to 350 degrees F. In large bowl, break up cookie dough. Stir or knead in baking bits and peanuts until well blended.
Onto ungreased cookie sheets, drop dough by 24 heaping tablespoonfuls 2 inches apart; flatten each slightly with fingers.
Bake 10 to 14 minutes or until light golden brown. Immediately top each cookie with 1 peanut butter cup; press lightly into dough. Cool 2 minutes; remove from cookie sheets. Let cookies stand until peanut butter cups are set before storing, about 3 hours.
Love chocolate? Try it with Pillsbury® Create 'n Bake™ chocolate chip cookies!