Turn the oven to 350 degrees F.
Add the sugars, shortening, and peanut butter to a large bowl (I used a stand mixer), and mix on medium until smooth and creamy, about on minute. Bump the speed up to high, and mix for an additional thirty seconds.
Add egg, vanilla, and milk, and mix on medium speed until fully combined, just a minute or two.
Add baking soda, salt, and 1/3 cup of flour, . Mix in on low until flour is almost fully combined. Add the additional 1/3 cups of flour individually, waiting until the second portion is almost fully mixed in before adding the last portion. Add sprinkles to finished dough, and fold in by hand. Be sure to not over-mix the dough.
Remove dough from the bowl, and wrap in plastic wrap. Chill in the refrigerator for up to one hour.
Spoon out one tablespoon portions of chilled dough onto a baking sheet lined with parchment paper or a silicone mat. Bake for 8-10 minutes.
Remove baking sheet from oven, and let the cookies rest for 3-4 minutes. Transfer cookies to a cooling rack. Let cool completely before adding milk chocolate drizzle.