Preheat oven to 350 degrees. Spray 3 mini 4-inch spring form pans with non-stick baking spray, and set aside.
Mix together your flour, baking powder, and salt. Set aside.
Cream together the peanut butter, butter, and brown sugar until light and fluffy with a handheld or stand mixer (about 2-3 minutes).
Beat in the egg, then add in your vanilla. Scrape down sides of your bowl at least once before incorporating your dry ingredients.
Beat in the flour mixture a little at a time, alternating adding in some of the milk, and mixing until just combined. Do not over-mix! Batter will be slightly thick. 🙂
Divide batter evenly between your 3 mini spring form pans. Tip: Don’t fill more than 2/3 full, as they will rise a bit while baking.
Bake for 25-35 minutes, checking at 25 with a toothpick to see if batter comes out clean. Bake for an additional 5 minutes after that, checking with a toothpick each time until baked through. Don’t over-bake to avoid the cake from becoming too dry! Allow cakes to cool in the spring form pans fully before removing and frosting.