Yorkshire pudding is traditionally eaten with roast beef. There is no specific time for eating it.
In the UK it is traditional to serve Yorkshire Pudding with roast beef.
Roast beef and Yorkshire (pudding) is a traditional Yorkshire meal, and Yorkshire pudding is considered as being a Yorkshire dish. Roast beef is eaten everywhere in the world where cattle or their meat are available.
Yorkshire pudding
Yorkshire pudding, various pies
roast beef with Yorkshire pudding
yes
Yorkshire pudding
Yorkshire Pudding is a traditional Yorkshire food. It was normally used in the poorer households as a starter before the main course to fill people so they wouldn't eat too much of the expensive meat. Of course, there are many ways of eating it, in some areas with a few currants covered in sweet raspberry vinegar.
Sausages
Offer them Yorkshire pudding.
Yorkshire pudding
The scholarly history of Yorkshire pudding is to be found in Traditional Food East and West of the Pennines, edited by C. Anne Wilson, Food and Society Series, Edinburgh University Press, 1991, chapter 6, Prodigal Frugality: Yorkshire Pudding and Parkin, Two Traditional Yorkshire Foods, by Jennifer Stead.