Grill over medium heat for about 1 minute or until light grill marks appear. Grill over medium heat for about 3 minutes or until light grill marks appear. Grill over medium heat for about 5 minutes or until light grill marks appear and the flesh is tender. Cook fruit over medium heat so the natural sugars get caramelized rather than scorched. If you don't have an outdoor grill, no worries — try the same strategy using a grill pan on your stove.