Preheat the oven to 375 degrees F (190 degrees C). Coat 16 cups of 2 muffin pans with cooking spray.

Heat a large skillet over medium heat. Add ground beef, bacon, onion, salt, and pepper and cook, stirring, until beef is browned, about 6 minutes. Drain fat, and stir in dill pickle relish, mustard, BBQ sauce, and garlic powder. Set filling aside to cool.

Separate each biscuit dough portion in half to get 16 biscuits, stretching and pulling each into a circle about 1/4 inch thick. Spoon about 2 tablespoons of the ground beef mixture into the center of each dough circle. Cut cheese into 16 cubes and insert each cube into the ground beef mixture. Wrap dough around the filling in the shape of a ball and pinch edges on the bottom together so biscuits are sealed around the filling.

Set each biscuit seam side down in a muffin cup. Lightly spray the biscuit tops with cooking spray and sprinkle with sesame seeds.

Bake in the preheated oven until golden brown, 15 to 20 minutes. Serve with ketchup for dipping on the side.