I found this on wikipedia:
Kit Kat chocolates showed British celebrities doing things which were contrary to their popular images (for example, football player Roy Keane doing needlepoint). One of the first shots in the advertisement is of Daleks chasing people on the street saying, in the standard Dalek tones, "Give us a cuddle!" while the final shot had Daleks following a group of Hare Krishna devotees, chanting "Peace and love!" The advertisement concluded with the Kit Kat slogan "Have a break, have a Kit Kat," implying that the Daleks were having a break from their habitual killing.
The Daleks' use in this advert was brought to an end by the estate of Terry Nation, who had not been aware of the usage. The advertising agency had mistakenly believed that the creatures were in the public domain.
*PIP* Daleks wanting to cuddle!!! hahaha
I want to get a copy of this commercial, but prolly will never see it past my imagination.