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Tip the milk into a saucepan with the mushrooms and bring to the boil. Simmer for 1 min, then remove from the heat and leave to cool completely. Strain the milk well, pressing down on the mushrooms to squeeze out any excess liquid, then set both the milk and the mushrooms aside.
To make the batter, tip the flour into a bowl and beat in the eggs until smooth. Gradually add the flavoured milk and carry on beating until the mixture is completely lump-free. Stir in the soaked mushrooms and season. Can be made a day ahead and kept, covered, in the fridge; give the batter a good stir before cooking.
Heat oven to 230C/210C fan/gas 8. Drizzle a little oil evenly into two four-hole Yorkshire pudding tins (or two 12-hole non-stick muffin tins to make 24 small puddings) and put in the oven for around 10 mins to heat through. Pour the batter into a jug and remove the hot, oiled tins from the oven. Carefully and evenly pour the batter into the holes. Put the tins back in the oven and leave for 20-25 mins until the puddings have puffed up and browned. Serve immediately. Can be cooled, then frozen for up to one month.