What's the best way to grill frozen hamburger patties on a barbeque grill?

I tend to slap the patties on my barbeque grill straight from the freezer. Once they're completely grilled and I take the first bite….NO FLAVOR WHATSOEVER! So what should I do? Should I take the frozen patties from the freezer and place them in the refrigerator so they can thaw out the night before? Should I place the frozen patties in orange juice over night in the refrigerator? There's got to be something to give my frozen patties "some" flavor! Help, please.