To anyone who isn't familiar with Yorkshire pudding, the best way to describe them is a crepe muffin. But really the best way to understand what they are like it to just make and taste, traditionally with a nice roast.
Letting the batter rest for a while before making isn't required but it makes a smoother batter and they puff up a little better. Doing so also makes dinner time a little easier. I like to make it in the morning and then it's ready to bake at in the evening.
1/2 c. flour
2 - 3 eggs
Pour the milk in a 2 cup measuring cup. Add two of the eggs. If it's almost to a whole cup don't add the third one. If there is a significant difference add the third one. Whisk in the flour.
Refrigerate for 2 - 8 hours.
Place your muffin tin in the oven and heat to 425. Allow the muffin tin to get nice and hot while the oven heats.
Remove from the oven and quickly brush 8 of the cups with oil. Divide the batter evenly between the 8 cups and return the pan to the oven.
Bake until puffed and a deep golden color.
Serve with roast and gravy.