If you decide to grill while camping or at a local park, you may find that the grills are pretty gross. One way to avoid contaminating your food is to use a grill sheet. You simply lay it onto the grill grate and cook your food on top of it.
NOTE: It is helpful if you spray it with non-stick spray.
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As mentioned, public grills can be pretty disgusting. Covering the grill with aluminum foil will help keep your food clean. Poke a few holes in it to let grease pass through to the coals below. This will help make the fire hotter and will make your foods less greasy.
When cooking hotdogs on the grill, I open a can of chili then put it straight on the grill. It heats up and makes great chili dogs. Just remember to open before putting on the grill.