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Whisk the milk, eggs and salt well and let stand for 15 minutes.
Whisk in the flour and let stand again until you need it.
Heat the oven to 220 degrees C/gas mark 7 and put a 12 hole muffin tin into heat for a good 10-15 minutes.
Put ¼ teaspoon beef dripping in each muffin compartment.
When the pan and the fat have been heated, pour in the Yorkshire pudding batter and cook for 15-20 minutes or until they have puffed up gloriously.