Interestingly, I've never found it necessary to beat the batter much at all, I make mine with a wooden spoon quite slowly and it usually turns out lovely.
Combine the ingredients slowly - put the flour in a bowl, make a well and break the eggs into it, gradually combine them with the flour working out any large lumps as you go (small ones will tend to sort themselves out) add and mix in the milk very gradually.
I like Delia's old ratio for the batter 2 eggs, 4oz flour, 6fl oz milk. Pinch of salt of course. If you want an eggier batter then reduce the milk accordingly, however this particular ratio is one that I find very reliable.
Oh, use plain flour, not self-raising. Raising agents in the flour can make the texture sub-optimal, the best rise comes from air in the batter rapidly expanding.
Hot oven, hot pan, hot fat and lots of it (hot sausages if doing toad, pop them in for 5 minutes before adding the batter so that the fat runs out of them). Cold batter added to the hot fat, it should sizzle and bubble immediately.
Don't Open The Oven Door until it has been in long enough for the risen batter to have cooked sufficiently so it doesn't flop when cold air enters the oven and causes air bubbles in the batter to contract, it's usually ok to check after 20 minutes but your final cooking time is likely to be 25 or 30 mins. But do not open the oven door to check on it before the 20 minute mark at least.