Preheat grill to 350° to 400° (medium-high) heat. Combine first 4 ingredients gently. Stir minced jalapeño peppers into meat mixture. Shape mixture into 6 (5-inch) patties.
Grill, covered with grill lid, 4 to 5 minutes on each side or until beef is no longer pink in center. Grill pineapple slices over medium-high heat 1 to 2 minutes on each side. Serve burgers on Homemade Hamburger Buns. Top each burger with Cilantro-Jalapeño Cream, grilled pineapple, avocado slices, and a fresh cilantro sprig.