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In a food processor, combine bacon, onion and garlic. Cover and pulse several times until finely chopped. Transfer the mixture to a medium saucepan. Cook over medium heat for 5 minutes or until bacon is completely cooked but not crispy, stirring frequently. Remove from heat. Let bacon cool completely.
In a large bowl, stir together ground beef, bacon mixture (including drippings), snipped cilantro, lime juice, salt and black pepper. Divide the mixture into six portions. Shape each portion into a thin oblong patty slightly larger than the circumference of a hoagie roll. Cover and refrigerate patties for at least 30 minutes or up to 4 hours.
In a grill pan or an extra-large skillet, cook patties over medium-high heat for 4 to 6 minutes, turning once halfway through cooking time. Remove from heat. Top each patty with a slice of cheese.
In a small bowl, stir together mayonnaise (or salad dressing), ketchup and paprika. Generously spread the sauce onto the cut sides of the rolls. Layer roll bottoms with meat patties, avocados, tomatoes, lettuce and cilantro sprigs. If desired, top with pickled jalapeños and/or hot sauce. Top with roll tops.