HEAT grill to medium-high heat.
SHAPE ground beef into 4 patties. Grill 4 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 mayonnaise onto cut sides of rolls. Fill with cheeseburgers, bacon, avocados and cilantro.