In a medium sized bowl add the flour and salt and make a well in the centre (this will make incorporating the liquids easier and lump free).
In a jug mix together the milk and eggs with a whisk until really well combined.
Pour ¼ of the liquid into the well, and using a whisk, gradually mix in the flour (rather than pulling all the flour in at once, keep moving the liquid mix round and round and the flour will gradually add in).
Keep adding 1/4 of the liquid at a time, until you have a smooth and lump free batter.
Set aside to rest for an hour (this will help the batter puff up and give an airier texture).
When ready to cook, add 1 tsp oil, fat or dripping to each hole of the muffin tin. Put the tin on a baking tray or sheet (this will add extra heat to the bottom) and slide into the oven to heat up for 5-10 minutes.
Carefully remove the tray - the oil should be smoking at this point - and quickly divide the batter between each hole.
Return to the top half of the oven and cook for 25-30 minutes. The Yorkshire puddings should be golden brown and cooked through, with no soggy bottoms.
Serve right away with plenty of hot gravy. You can also leave these to cool and freeze for use at a later date.
