The secret to the best Yorkshire puddings is to let the batter rest at room temperature, the royal chef said

Chef Darren McGrady would make Sunday lunches for the Queen and the Royal Family at Buckingham Palace in London. He also used to cook traditional roast dinners at Kensington Palace for the Princess of Wales (the late Diana) when Prince William and Harry were children.

Darren would serve the hearty English meal with fluffy roast potatoes, seasonal vegetables such a carrots, cabbage, brussels sprouts, peas and hot gravy. His favourite meat to cook was roast beef accompanied by ultra light and crispy Yorkshire puddings.

In a recipe video he shared on his YouTube, the royal chef said he had to adapt the brussels when it came to preparing the vegetables so that the children would eat them.

READ MORE: The banana bread recipe the Queen ate at Buckingham Palace that kept royal chef 'out of trouble'

He said: "When I worked for the Princess of Wales at Kensington Palace, William and Harry just wouldn't eat the brussels spouts whole. Nanny always had this battle with them about eating brussels and I said why don't we put some bacon in there, you know they both love bacon. Let's put a bit of bacon and onion and garlic, I mean everybody's is going to eat brussels sprouts then right, so that's what I do."

Among his top cooking tips, Darren said a boneless beef ribeye was the best cut to use for a classic Sunday dinner. He also said when it came to making Yorkshire puddings, he said the secret was to make the batter in advance and leave it and room temperature.

He said you need to pour one tablespoon of oil into each muffin hole and blast the tin into the oven so it becomes piping hot before you add the batter. As for the potatoes, you can use mashed potato or roasts or a combination of the two.

He said the secret to the best roasties was to part-boil them first. The outside of the potato will start to cook, so when you drain them they become flaky ready for you to oil and bake them.

I made the Queen's favourite cake recipe and it reminded me of my childhood

I tried shortbread recipe the Queen loved - but in an air fryer

If you're obsessed with The Great British Bake Off and all things baking, you're in luck as we are too!

Our Bake On Bake Off newsletter is jam-packed with gossip and reaction from the famous TV show.

Plus, it's stuffed with super quick and easy recipes, anyone can try at home.

It's free and it takes seconds to sign up - simply press here and enter your email address.

Changed your mind? There's an 'unsubscribe' button at the bottom of every newsletter we send out.