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Preheat your oven to 230°C or 210°C fan force.
Grab your muffin tin and drizzle each hole with 1cm olive oil, then place it into the oven to heat up whilst you make the batter.
Add your flour to a large mixing bowl then crack in the eggs. Using a whisk, mix the flour into the eggs, beating really well until combined. It'll be very thick at this point, so slowly add the milk bit by bit and whisk well each time, making sure there are no lumps. Transfer the batter to a jug for easy pouring.
Remove the tray from the oven (make sure it's been in for at least 10 mins), then quickly pour in your batter. I like to fill it by roughly 2cms or half full. You should hear it sizzle as it hits the hot oil, which is what will make your Yorkshires puff up. If you have extra batter, don't worry- you can refill the tray after the first batch and make more if you like.
Pop your tray in the oven to cook for about 20-25 minutes (don't open the oven door while baking or they'll sink!) or until they're puffed up and golden brown.