Do Ahead: Burgers can be prepped ahead of time and refrigerated until grilling. If you do this, let the burgers sit at room temperature for 20-30 minutes before grilling to take the chill off. 4. Grill the Burgers: Grill the burgers for 2 minutes on each side, then move them to a lower-heat area of the grill. Cook another 2-3 minutes for medium-rare burgers, 3-4 minutes for medium, or 5-6 minutes for well-done burgers. In the last minute of cooking, lay a slice of cheese on top of each burger and arrange the buns over high heat to toast.