Start by making the Yorkshire pudding batter. Add the flour, eggs and milk to the Thermomix bowl. Mix for 20 seconds / speed 4. Transfer to a jug, cover and set aside for at least 30 minutes to an hour.
Pre-heat the oven to 200C / 400F.
Add the olive oil to a deep-sided baking tin. Put into the oven for 5 minutes to heat up.
Add the sausages to the tin. Cook for 10-15 minutes, depending on the thickness of the sausages. (I do 15 minutes for thick sausages).
Carefully remove the tin from the oven and pour the batter into the tin. Return to the oven for 25-30 minutes, until the Yorkshire pudding is puffed up and golden brown.
Serve with gravy and enjoy.
Notes
It is easy to double the recipe for a family of four - just use a larger roasting dish.