You can either buy colored frosting or get a tub of white frosting and add food coloring.

Transfer icing to piping bag or zippered bag and clip a corner.

If you are using cookies that only have one side fudge covered, make sure that side is facing upwards.

Pipe icing in the middle to act as "glue" and place an unwrapped kiss in the midddle.

If you like you can pipe extra icing around the kiss to even up the look.