1. Preheat the oven to 200°C. Spray a 12-cup muffin tin generously with baking spray and set aside.
2. Whisk the milk, flour, eggs, vanilla and 1/2 teaspoon salt in a medium bowl until combined. Drizzle in the melted butter while whisking until combined, then let the batter stand for 5 minutes. Whisk in the baking powder, then divide the batter evenly among the muffin cups (a scant 1/4 cup per muffin).
3. Bake until the Yorkshire puddings are puffed and browned around the edges, 20 to 25 minutes, rotating the pan halfway through.
4. While the Yorkshire puddings are baking, bring the berries, 1/2 cup water and granulated sugar to a simmer in a small saucepan over medium heat. Cook until the berries are juicy and soft and the liquid is reduced and thickened, about 10 minutes. Remove from the heat and cover to keep warm.
5. When the Yorkshire puddings are done, turn them out of the pan, using a small spatula if necessary. Arrange 2 Yorkshire puddings on each of six plates and garnish with a dollop of the sauce and a dusting of icing sugar if using.
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