Preheat indoor or outdoor grill to medium high heat.

Place ground beef into large mixing bowl. Add taco seasoning, salt and pepper to beef, stir to combine. Divide into 4 patties, pressing to form a tight round. Grease grill and grill burgers 4-6 minutes each side, until grilled to desired doneness. During last 2 minutes of grilling add a slice of cheese to melt. Remove from grill. Toast buns cut side down to toast lightly.

Place mayonnaise and taco seasoning into a small bowl, stirring to combine. Spread mayonnaise onto cut sides of rolls and layer bottom roll with a lettuce leaf, a burger, 2 slices of tomatoes, cilantro leaves and bacon slices. Close with top roll and serve warm.