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In a medium bowl, combine granulated sugar, brown sugar, baking soda, and baking powder. Set aside.
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In a large bowl, beat the peanut butter, butter, and shortening until combined. Add the sugar mixture, beating until combined.
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Add the egg and vanilla and beat until combined.
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Add flour, beating on low speed until fully combined.
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Cover the dough with plastic wrap and chill for 1 hour in the refrigerator.
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Preheat the oven to 375 F. Line two baking sheets with parchment paper. Set aside.
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Using a #40 cookie scoop or large spoon, scoop out 1 ½ - 2 tablespoons of dough. Shape into balls. Roll balls in granulated sugar and place two inches apart on prepared baking sheets. (You might need to adjust the size of the the dough ball based on your paw print stamp).
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Flatten the dough balls using the heel of your hand.
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Press paw print cookie stamp onto the flattened cookie dough.
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Bake for 7-9 minutes.
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Let sit 1-2 minutes before transferring to a wire rack to cool completely.