The secret of making Yorkshire pudding is to ensure that the oven is very hot, and that the fat in your tin is smoking hot before pouring in the batter.
Sift the flour and salt into a bowl. Make a well in the centre, tip in the egg and a little of the milk. Beat well, gradually incorporating the flour, adding more of the milk as necessary until you have a smooth batter the consistency of thick cream. Allow to stand for at least 30 minutes.
Place a teaspoon of good beef dripping in the base of each individual Yorkshire pudding tin, or a tablespoon in a roasting tin if baking in one piece. Put the tins in the top of the oven at gas mark 7, 425°F (220°C), for 5 minutes until the fat is smoking. Working quickly, remove the tins, pour in the batter and pop back into the oven. They are cooked when well risen, puffy and golden brown. Small ones take 10 to 15 minutes; large ones 40 to 45 minutes if cooked in one tin.
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