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Poaching a hot dog gets the internal temperature perfect but leaves an unsatisfying outside.

1) bring water in a saucepan over high heat to 150-155 F.
2) Drop the heat to Low. place your hotdogs in the water.
3) Poach for 10 minutes.

Then,
1) Warm your grill to High Heat.
2) Dry and place your poached dogs on the grill to char them.