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Preheat oven to 350° and grease a muffin tin with cooking spray. Flatten burger bun halves to ¼ inch thick with a rolling pin and place one half cut-side up in each prepared muffin cup.
In a large skillet over medium-high heat, heat oil. Add onion and cook, stirring, until soft, about 5 minutes. Add ground beef and cook, breaking up meat with a wooden spoon, until no longer pink, about 6 minutes. Drain fat.
Return beef mixture to skillet and season with garlic powder, salt, and pepper. Divide ground beef mixture among burger bun cups and top each with a cheddar cheese square. Bake until cheese is melty and buns are golden, about 10 minutes.
Drizzle cups with ketchup and mustard, top with a pickle, and sprinkle with sesame seeds.