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Here is how I do it, without reading through all the responses...
Use a Cast Iron Skillet
Fry Sausage. DO NOT DRAIN THE FAT.
Add a heaping Tablespoon of Flour (roughly) and stir until the Sausage is Coated. Do this over medium heat. Scrape the bottom of the pan with a spatula as well.
Add about 2 cups of whole milk, with my skillet, I just pour the milk in until it's about 1/4 from the top. Allow it to simmer to a bubble. Once it bubbles, turn off the heat and let stand for about 5 minutes. Gravy will thicken upon standing. Add Pepper. I like a peppery gravy.
To add, I rarely use any exact measurements when doing this. I just "cook from the hip" and eyeball everything.
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