Preheat oven to 230°C (or 200°C fan bake).
In a bowl, whisk together Yorkshire pudding mix, eggs and milk, until combined. Set aside in the fridge for at least 5 minutes.
Add oil to a medium (about 20cm) oven-proof fry-pan and place on lower oven rack to heat up for 10 minutes. Once heated, very carefully remove from oven and pour in Yorkshire pudding batter. Quickly return to oven for about 25 minutes, until risen and golden.
Enjoy your Yorkshire pudding alongside your favourite roast.