Step 1

Preheat oven to 450°.

Step 2

To prepare roast, rub roast on all sides with garlic. Sprinkle with 1/2 teaspoon salt and 1/2 teaspoon pepper. Place roast, fat side up, on a broiler pan coated with cooking spray. Insert meat thermometer into thickest portion of roast. Bake at 450° for 25 minutes. Reduce oven temperature to 300° (do not remove roast from oven); bake an additional 1 1/2 hours or until thermometer registers 145° (medium) or desired degree of doneness. Place roast on a platter; let stand while finishing sauce and Yorkshire puddings. Reserve 1 1/2 tablespoons drippings from pan for puddings; set aside.

Step 3

To prepare sauce, wipe the remaining drippings from pan with paper towels, leaving brown bits on the bottom of pan. Combine the water and 2 tablespoons flour in a small bowl. Add Madeira to pan, and bring to a boil over medium-high heat, scraping bottom of pan with a wooden spoon to loosen brown bits. Add flour mixture; cook for 1 minuteor until slightly thick. Stir in broth and 1/2 teaspoon pepper; cook 2 minutes. Keep warm.

Step 4

Preheat oven to 450°.

Step 5

To prepare puddings, coat 12 muffin cups with reserved pan drippings. Lightly spoon 1 1/2 cups flour into dry measuring cups, and level with a knife. Combine 1 1/2 cups flour, 1 teaspoon salt, and 3/4 teaspoon pepper in a medium bowl. Gradually add milk, stirring with a whisk until smooth. Add thyme and remaining ingredients to bowl, stirring with a whisk until smooth. Spoon batter into prepared cups. Bake at 450° for 15 minutes. Reduce oven temperature to 375° (do not remove puddings from oven); bake an additional 15 minutes or until golden.