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Soak four 8- to 12-inch bamboo skewers in water for 30 minutes. Meanwhile, in a medium bowl, combine 1 tablespoon mustard, panko, milk, garlic, shallot, basil and 1/4 teaspoon each salt and pepper. Add ground turkey; mix well. Form into four 1/2-inch-thick patties.
Thread cherry tomatoes on skewers. Brush lightly with olive oil.
For a charcoal or gas grill, grill burgers on the rack of a covered grill directly over medium heat for 11 to 13 minutes or until patties are done (165°F), turning once halfway through grilling. Add the tomato skewers for the last 6 minutes or grilling, turning to cook evenly.
Spread the cut sides of the bread (or rolls) with the remaining 1 tablespoon mustard. Place burgers on top. Remove tomatoes from skewers and pile on the burgers. Drizzle with a little lemon juice and sprinkle with the remaining salt and pepper and basil.