I've always copied the way my grandmother makes it:

YORKSHIRE PUDDING

2 cups milk
1 cup flour
2 slightly beaten eggs
dash salt and pepper

Preeat oven to 500 degrees.

Add all ingredients together, but do NOT beat too long. Simply make sure everything is well incorporated.

Grease muffin tins and add 1/2 mixture to each tin.

Bake in 500 degree oven. Watch puddings frequently until they have risen and are golden brown.

Introduce puddings into a gravy made from the drippings of a rump roast. Serve immediately.

Servings: 4-6

Double recipe for similar results. Kids love it too! Family favorite!