Homemade Yorkshire pudding is simple to make. Just be sure you use a hot pan and don't open the oven while the puddings are rising. You can make the batter a couple of hours in advance to save prep at mealtime.
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1 cup flour
1 cup 2 % milk
1/2 teaspoon salt
fresh ground pepper
12 teaspoons butter
Add flour to large mixing bowl.
In a smaller bowl combine the milk, eggs and seasoning.
Add half the liquid to the flour and whisk.
Add the other half—you want the mixture to be smooth and the consistency of heavy cream.
If it is a bit thick add a little more milk (1 tablespoon at a time)
Put it in the fridge to rest the batter for 10 minutes.
Meanwhile preheat oven to 425 F.
In a standard size muffin tray put 1 teaspoon butter in each mold.
Put the tray in the preheated oven until butter is bubbling and tray is hot, 2 to 3 minutes.
Remove the hot tray and fill the cups just under 2/3 full (or they will bubble over).
Put the tray in the oven and bake for 20 minutes.
Do not open the oven during this time or the puddings will deflate.
Bring temperature down to 350 and finish baking for 5 minutes or until tops are crisping and golden.
Remove from oven and pierce with a small knife to release steam. Serve immediately.