We had Yorkshire Pudding to go with the Prime Rib on Christmas Day. I used the recipe that Cooks Illustrated published and then adapted by http://www.steamykitchen.com/.
Ashley and Brittany made them for the first time and WOW, they did a great job.
Do this recipe by hand, you want a light touch as you're mixing the flour.
3 large eggs, at room temperature
1 1/2 cups milk, at room temperature
3/4 tsp. table salt (or 1 1/2 tsp. Kosher salt)
1 1/2 cups UNBLEACHED flour (7 1/2 oz), sifted
3 TBSP. beef fat (from your Prime Rib Roast)
In a large bowl, whisk together eggs, milk and salt. Sift in the flour in three stages, each time whisking until flour disappears before adding in more flour. Let rest at room temperature for 30 minutes and up to 3 hours.
When the Prime Rib is finished, spoon out 3 TBSP. of beef fat. Turn oven to 450~.
Stir 1 TBSP. of the beef fat into the batter.
In a muffin pan, fill each cup with 1/2 tsp. of the remaining beef fat. When oven has reached temperature, place muffin pan with fat into oven for 3 minutes until smoking hot.
Carefully take out the pan and pour batter into each cup, filling to 2/3 full. Immediately return to oven and bake for 20 minutes. Do NOT open oven door during baking, or the Yorkshire Puddings will collapse. Reduce heat to 350~ and bake and additional 10 minutes until golden brown.
Remove from oven, pierce each Yorkshire Pudding with toothpick to allow steam to escape and prevent them from collapsing.