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If making the yorkshires, heat the oven to 230C/210C fan/gas 8. Whisk the flour and eggs together in a bowl with a pinch of salt, then whisk in the milk until smooth. Oil a 12-hole cupcake tin, then put in the oven for 10 mins until hot.
Carefully remove the hot tins from the oven and divide the batter between the holes of the tins. Bake for 15 mins until risen and firm. Transfer to a wire rack and leave to cool completely. When cool, transfer to an airtight container until ready to serve.
Reduce the oven to 220C/200C fan/gas 7. Combine the mustard, honey and oil. Season. Pour over the sausages, stirring to coat. Transfer to a baking dish lined with baking parchment and bake for 10-12 mins until the sausages are sticky and cooked, stirring halfway through. Serve with cocktail sticks, or arrange in the middle of the mini yorkshires and reheat in the hot oven for 3-4 mins until warm.