Heat a large skillet over medium heat. Add the breakfast sausage and cook until browned, breaking it apart with a wooden spoon.

Drain excess grease, leaving about 2 tablespoons in the skillet to keep the gravy from being overly greasy.

Sprinkle the all-purpose flour over the browned sausage and stir to combine, cooking for 1 minute to eliminate the raw flour taste.

Gradually pour in the milk while continuously whisking to prevent lumps and create a smooth sauce.

Stir in the salt, black pepper, and cayenne pepper (if using) to season the gravy.

Reduce the heat to low and simmer for 5 to 10 minutes, stirring occasionally, until the gravy thickens to your desired consistency.

If the gravy becomes too thick, add a splash of milk and stir to adjust the consistency.

Serve the hot sausage gravy immediately over freshly baked biscuits.