I opted to bake vanilla and chocolate cupcakes from a box. After baking the vanilla cupcakes top them with sesame seeds. Cut the vanilla cupcake in half. Then cut the chocolate cupcakes in half or thirds for the "meat". Pipe red frosting on one end of the vanilla cupcake and yellow frosting on the other end with a large or small round tip. Some bakers added tinted green coconut for lettuce but I'm not crazy about coconut. But I did add a dollop of vanilla frosting to the center of each cupcake to help the cupcakes stick to each other since the "mustard" and "ketchup" are only on the edges.
The end result looks like sliders which kind of plays with your mind because the taste is sweet. Happy Grilling!