I do mine like PG does, except I don't drain the bisquits. Just give 'em a good dusting of flour and add milk while stirring. I've turned the stove down, of course, when it gets to a tad thinner than I like, I quit adding milk and keep stirring so as to not scorch anything.
If you start the sausage browning while you put the bisquits on the sheet, everything gets done at the same time. I'll have the bisquits cut and on a plate so I can just take the skillet off the stove and put the gravy over, then set the skillet off on a burner that ain't hot and let it cool while I eat.
My old supervisor taught me this way. Saves a sauce pan and an extra step!