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Prepare the Batter: In a mixing bowl, combine the milk, flour, eggs, salt, and, if desired, sugar and additional seasonings. Whisk until the batter is smooth and free of lumps. Allow the batter to rest for at least 30 minutes at room temperature to enhance its rising properties.
Preheat the Air Fryer: Set your air fryer to 375°F (190°C). Generously grease silicone muffin cups or ramekins with vegetable oil and place them in the air fryer basket to heat for 5 minutes.
Add the Batter: Carefully pour the rested batter into the preheated, greased muffin cups, filling each about halfway.
Air fry Yorkshire Puddings: Cook on air-fry setting for 13 minutes at 375 degrees Fahrenheit (190 °C). Flip after 10 minutes and cook the bottoms for the remaining 3 minutes or until the puddings are golden brown and have risen impressively.