HEAT grill to medium-high heat.
SHAPE ground beef into 4 (1/2-inch-thick) patties. Grill 5 to 6 min. on each side or until done (160°F). Meanwhile, cook bacon as directed on package.
TOP burgers with cheese; grill 1 min. or until melted.
SPREAD rolls with mayo; fill with cheeseburgers, bacon, avocados and cilantro.