I modified this from Jamie Oliver's recipe, as tipped off to me by Julie on my Bird in the Nest post.
Yorkshire Pudding Batter
1 1/3 C. milk
1 C. Flour, all purpose
Salt
3 eggs
Mix the batter ingredients together and set aside.
Toad in the Hole
Sunflower oil
6 Quality sausages, large
6 Sprig sections of fresh rosemary
Put just under 1/2" of sunflower oil into each muffin tin cup and place on the middle shelf of the oven at its highest setting, 475°F. Place a large tray underneath to catch any oil splatter that happens during cooking. In order for this to work everything needs to be nice and hot so there will probably be some bubbling and spitting.
When the oil is very hot, add your sausages. Keep an eye on them allowing them to become just lightly golden. At this point pour batter over each sausage.
Throw a rosemary sprig section into each cup. Close the door and do not open again for at least 20 minutes, as rising Yorkshire puddings are temperamental wee things. Remove from the oven when golden and crisp.
Gravy
1 Red onion, peeled and sliced
2 Cloves of garlic, peeled and finely sliced
2 T. Butter
6 T. Balsamic vinegar
1 T. Vegetable stock powder
For the onion gravy, simply fry off your onions and garlic in the butter on a medium heat for about 5 minutes until sweet and translucent. Add thyme. Next, add balsamic vinegar and cook down to half. Add veggie stock powder with a little water. Bring to a simmer.
We served this with mashed cauliflower and a green salad.