Preheat the oven to 350°F (175°C) and line baking sheets with parchment paper or silicone liners.
In a large bowl, combine peanut butter and butter using a mixer until smooth.
Gradually add brown sugar and granulated sugar, beating until fluffy.
Add eggs one at a time, mixing well after each addition, then stir in vanilla extract.
In another bowl, whisk together flour and baking soda, then fold into the wet mixture until just combined.
Shape dough into balls and place on prepared baking sheets, pressing down with a fork to create a crisscross pattern.
Bake for 12-13 minutes until golden brown around the edges but soft in the center, then cool on the baking sheet for 5 minutes before transferring to a wire rack.