Heat closed medium-size contact grill for 5 minutes. Position drip tray to catch drippings.
Meanwhile, in large bowl, mix all ingredients except bacon. On work surface, pat mixture into 7-inch square. Cut into 4 (3 1/2-inch) squares.
When grill is heated, place beef squares on grill. Top each square with 2 half-slices bacon. Close grill; cook 6 to 10 minutes or until squares are thoroughly cooked and no longer pink in center and bacon is browned.