More on Yorkshire pudding

These recipes look good, although you can see the quantities vary a little so don't be too worried about measurements, the main thing is the pan (or pans) must have the oil or drippings smoking - it starts to cook the moment the batter hits the oil.
Yorkshire pudding was served with gravy (in the county of Yorkshire, England) before the main course, the idea was that you filled up on this pudding so you didn't want as much meat, which was very expensive, but the cook wouldn't seem mean.
Yorkshire pudding can also be served cold, some people like jam (strawberry preserve or jelly) on it, although that may be a bit of an acquired taste.