Farah, who blogs at Confessions of a Novice Baker, kindly credits as the source (adapted) for her recipe for Yorkshire pudding. I would not put anyone off making a batter in this way; but I am rather inclined nowadays to use half milk (semi-skimmed, too) and half water, for a lighter, less gooey result. Many recipes suggest you use two eggs, or even three, with these quantities of flour and milk. Perhaps egginess is desirable in pancakes; but not in baked batters, in my view.
Another common suggestion is that you should let batters stand, for at least half an hour and preferably longer. When I made a batter some three hours in advance of cooking it, I found it heavy and sticky when cooked, as if the resting period had caused it to become more glutenous. Perhaps I was just unfortunate.
Here is a recipe for toad in the hole.