Preheat oven to 425°F (220°C). Place vegetable oil or beef dripping in a muffin tin or Yorkshire pudding tray and place in the oven to heat up until smoking hot (about 10-15 minutes).
In a mixing bowl, whisk together the flour, eggs, milk, salt, and pepper until just combined. Do not overmix; a few lumps are fine.
Carefully remove the hot tin from the oven and quickly pour the batter into each well, filling about halfway.
Return the tin to the oven and bake for 20-25 minutes, or until the Yorkshire puddings are golden brown and puffed up. Do not open the oven door during baking.
Remove from the oven and serve immediately. Enjoy!