Preheat oven 350 degrees. Cream margarine, peanut butter, sugar and brown sugar. Add eggs and vanilla. Combine dry ingredients and add to peanut butter mixture. Take 1 Tbs. of dough and flatten into round shape in palm of your hand. Place snickers bar in the center and fold dough around it. Roll in palms of your hand to form a smooth ball with snickers bar totally covered with dough. Place on ungreased cookie sheet. Bake for 10-12 minutes. Remove from cookie sheet and place on wire rack to cool. To make the chocolate glaze, mix powdered sugar, cocoa and milk. Add additional as needed to thin mixture enough to drizzle from spoon. Drizzle top of cookies with chocolate glaze.