In a large bowl, cream peanut butter, sugars and vanilla extract until light and fluffy, about 4 minutes. Beat in almond milk. In another bowl, whisk flour, baking soda, baking powder and salt; gradually beat into creamed mixture.
Shape level tablespoonfuls into balls. Place 2 in. apart on parchment paper-lined baking sheets; flatten with a fork. Bake at 350° for 8-10 minutes or until set. Cool 5 minutes; remove to wire cooling racks to cool completely.