How do I make proper Yorkshire pudding?

To all the English folk out there (and anyone else who has a clue), please give me some pointers on how to make proper Yorkshire pudding. I try so hard and it’s always a fail! I have English ancestry so I figure it should be in my genes, but unfortunately I can never get it to work! Tips and/or recipes please so I can attempt it for Christmas dinner once again.
How do I make proper Yorkshire pudding?
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