I grew up in England. One of my favorite early memories is of Yorkshire pudding. It's only good with brown gravy and roast beef, or at least that's how we ate it when I was younger. I don't eat red meat any longer, so it's been many, many years since I've had Yorkshire pudding. I may have to try this recipe again and eat it with some honey or jam (as many in Great Britain will... they also add other ingredients to jazz it up a bit). A lot of people prefer onion gravy rather than traditional brown gravy.
3/4 c. flour
1/2 tsp. salt
1 c. milk
4 tbsp. oil
Note: some people use three eggs.
Beat flour, salt, eggs, milk together until very smooth, scraping bowl occasionally. Refrigerate 2 hours or longer. Heat oven to 450 degrees. Measure oil into 8 x 8 x 2 inch square glass pan. Heat for 2 minutes. Pour batter into pan and bake for 20-30 minutes. Do not open door. Serve immediately.
Your Yorkshire pudding should be puffy and irregular in shape when it comes out of the oven. After a few minutes it will settle a bit. The outer crust should be tender yet crisp, while the middle should be softer and somewhat custard-like.
Another alternative way to cook the pudding, and a more traditional method, is to put it in a large pan under your roast as it's cooking. It will catch the drippings from the roast and will add flavor. And yet another way some make the pudding is to catch the drippings from the roast and use them instead of regular oil.
Add sausage and it's known as "toad in a hole.'
Some will make bake their pudding in muffin tins to make individual puffs.
Left overs can be frozen if you cover tightly.
If you've never tried Yorkshire pudding you may find that it becomes a staple. It's easy to make and very versatile.