My mother was a sweet little English lady that always made sure her children...my brothers & I never left the table hungry...she loved to cook & bake for us. Here is one of my all time favorites growing up. Don't be fooled by the name Yorkshire Pudding...it's not a dessert type of pudding, it's actually more of a fluffy crusty bread shell or like a souffle'. So many people get a surprise thinking it's a sweet pudding...it's just what the British culture name it.
Place roast in open roasting pan. Sprinkle with salt & pepper.
Insert meat thermometer into thickest part, making sure it is in the center of roast & not resting on bone or fat.
Roast in 325 degree until temperature reaches 140 for rare(1 3/4 to 2 1/2 hours); 160 for medium-rare(2 1/4 to 3 1/2 hours); 170 for well done(2 3/4 to 4 hours, depending on preference, I like mine med-rare. When roast is done, allow it to stand at room temperature 15 minutes for easier carving. About 5 minutes before end of roasting time, prepare Yorkshire Pudding.
In medium bowl with wire whisk, beat eggs until foamy; beat in milk & 1/2 tsp of salt; gradually beat in flour until batter is smooth.
When roast is done, spoon off 2 tbsp drippings & divide into twelve 3-inch muffin cups; tilt to coat evenly; turn oven to 400 degrees. Note: my mother made her pudding in a rounded souffle' dish. My kids always like it in the muffin cups for individual serving sizes plus they come out so cute.
Heat muffin pan in oven 5 minutes; pour 2 1/2 tbsp batter in each muffin cup. Bake 30 minutes.
Loosen Yorkshire Pudding; transfer to platter & serve immediately with roast & Horseradish Sauce. Note: you can save more of the drippings from roasting pan to make a gravy as well. It's good to fix up some gravy to pour a little over the pudding cups, yum!.