I'm not sure there is a "no fail" recipe for Yorkshire pudds!
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I've tried a few different recipes, but have yet to make a perfect batch of them. The best recipe I have tried by far, though, is the Jamie Oliver recipe:
1/2 pint (285 millilitres) milk
4 ounces (115 grams) all-purpose flour
Pinch salt
3 eggs
Vegetable oil
Turn the oven all the way up and preheat until hot, hot, hot.
Mix the batter ingredients together. Let rest for 10 minutes
Preheat a Yorkshire pudding tray or muffin tin with 1/2-inch (1 centimetre) of oil in each section.
After the 10 minutes divide the batter into the tray. Cook for around 15 to 20 minutes until crisp and puffy, don't open the oven door before then or they won't rise.
However, they are kind of squidgy sometimes (for me, some people like them that way, so it depends on what you like). If you want them crunchier, then turn the heat down a bit and cook for another 10 minutes. Also, last time, I put them on the top shelf of the oven, but I had the shelf too close to the top and they stuck to the top of the oven.
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These rise big time, so make sure you leave plenty of room overhead! I use an Texas-sized muffin pan for mine, but you can use whatever pan you have, depending on what size you want.