In a large skillet over medium-high heat, cook the sausage, breaking it into crumbles as it browns. Continue cooking until the sausage is fully cooked and no longer pink.
Reduce the heat to medium and sprinkle the flour over the cooked sausage. Stir well to combine and cook for 1-2 minutes to eliminate the raw flour taste.
Gradually add the milk, stirring continuously to prevent lumps. Bring the mixture to a gentle simmer and cook until the gravy thickens, about 5-7 minutes.
Season with salt, pepper, and paprika (if using). Adjust the seasoning to taste.
Serve the sausage gravy hot over freshly baked biscuits.