Combine the ground beef with garlic, onion, parsley, Worcestershire sauce, and Tabasco sauce in a medium bowl. Season with salt and pepper to taste, and, using your hands, mix well and form into 4 balls. Poke a hole into the center of each ball and insert the cheese. Wrap the beef around the cheese and gently flatten to make 4 patties about 1/2 inch thick.
Grill the patties over direct medium-high heat 5 to 6 minutes on each side or until medium and the internal temperature reaches 160°. Meanwhile, toast the buns over indirect medium heat about 5 minutes, or until golden brown.
Remove patties from the grill and let them rest 4 minutes. Place the lettuce and tomato on the bottom half of each hamburger bun. Add the patties and top of each bun.