Preheat your oven to 425°F (220°C). Yorkshire puddings need a hot oven to rise well, so make sure it reaches temperature before starting.

Place a 12-cup muffin tin in the oven while it heats. A preheated tin is essential for creating the perfect rise and crispiness in Yorkshire pudding.

In a large mixing bowl, whisk together 1 cup all-purpose flour, 1 cup milk, 3 large eggs, and 1/2 teaspoon salt until smooth and free of lumps. The batter should be thin, like pancake batter.

Carefully take the hot muffin tin out of the oven. Add about 1/4 inch of vegetable oil or beef drippings to each muffin cup. Return the tin to the oven for another 5 minutes, or until the oil is sizzling hot.

Once the oil is hot, remove the muffin tin from the oven. Pour the batter into the hot oil, filling each muffin cup halfway. Avoid overfilling, as the puddings will rise significantly.

Place the muffin tin back in the oven and bake for 20-25 minutes, or until the puddings are well-risen and golden brown. Avoid opening the oven door during baking to prevent collapse.

Yorkshire puddings are best enjoyed hot out of the oven. Serve with a traditional roast dinner, pairing with beef, lamb, or pork, and top with gravy for a classic meal.