Sift the flour into a large bowl and make a well in the centre.
Carefully crack the eggs into the centre of the flour.
Season generously with salt and pepper and immediately whisk together until you get a smooth creamy consistency without any lumps (an electric whisk is very useful for this).
Slowly start to incorporate the milk until it is all used. You are looking for a smooth consistency like single cream.
Set the batter aside to rest in the fridge in a sealed container if you are using it later. If you are using it within 30 minutes leave it in a bowl or jug.
In a muffin tray, pour a teaspoon of vegetable oil into each hole.
Put the tray into the oven and set the temperature to 220oC / 430oF / gas mark 7 conventional or 200oC / 390oF / gas mark 6 fan assisted.
When the oil is very hot bring the tray to a safe place on the worktop and working quickly but safely pour the batter into each hole until it is between a 1/3 and 1/2 way up the side.
The batter should bubble and sizzle in the oil - if it doesn't the oil is not hot enough. Put the tray back in the oven and increase the temperature slightly and try again when the oil is hot enough.
Put the tray back in the oven and keep the door closed for the duration of the cook (usually between 20 - 25 minutes).
The Yorkshire puddings are done when they have risen well and look golden and crispy on the outside.
Remove the Yorkshires from the oven, carefully take each one out of the tray and place them on a piece of kitchen paper to soak up any residual oil that is left on the base of each of them.