Preheat oven to 350°F. Line a cookie sheet with parchment paper and set aside.
Cream ½ cup butter flavored shortening, ¾ cup creamy peanut butter, and 1 cup light brown sugar together until smooth. Add the unprepared 1 (3.4 oz.) box instant vanilla pudding mix, 2 large eggs, 1 additional large egg yolk, and 1 teaspoon vanilla extract. Beat for about one minute on medium speed.
In a separate bowl, combine 2 cups all-purpose flour, 1 teaspoon baking soda, and ½ teaspoon salt. Add dry ingredients to the wet ingredients a ½ cup at a time and mix until combined.
Use a medium cookie scoop to portion out the dough into balls and roll the dough between your palms. Roll the balls in ½ cup granulated sugar.
Place the balls of dough on the prepared cookie sheet about two inches apart. Use a fork to gently press the balls flat, making two indents with the fork tines, criss-crossing the marks.
Bake for 9 to 12 minutes then let rest on the baking sheet for 2 minutes before transferring to a wire rack.