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In a large bowl, combine ground beef, vinegar, 1/2 teaspoon black pepper and 1/4 teaspoon salt. Working on waxed paper, shape mixture into twelve 4-inch-diameter patties.
Place cheese and roasted peppers on the center of six of the patties. Top with the remaining six patties; pinch edges together to seal. Sprinkle burgers with a pinch each salt and black pepper.
For a charcoal or gas grill, place burgers on the grill rack directly over medium-high heat. Cover and grill for 10 to 12 minutes or until patties are done (160°F), turning once halfway through grilling.
In a small bowl, combine mayonnaise and pesto. Spread cut sides of buns with mayonnaise mixture. Fill buns with burgers and basil leaves.