In a medium bowl, mix flour, baking soda, baking powder, salt and cinnamon.
In the bowl of a stand mixer with a paddle attachment, cream the peanut butter and softened butter until smooth.
Add white and brown sugars to butter mixture until combined.
Beat egg, vanilla extract and milk into the mixture until just combined, no longer than one minute.
Add dry ingredients to wet mixture in portions, mixing on low speed until combined. fold in white chocolate chips by hand until just combined.
Chill dough for at least 30 minutes in a sealed container.
Preheat your oven to 375ºF and prepare a baking sheet with parchment paper.
Roll dough into small balls and place on the baking sheet, about 2 inches apart.
Lightly press down on each ball to make a flattened circle.
Bake for about 10 minutes, or just until cookies start to puff up. Let cookies cool completely before dipping.
Melt your wafers over a double boiler or in the microwave. Dip cookies halfway into melted chocolate.
Place cookies on a tray or plate and cool in the fridge before serving.