I have a way of making my hot dogs thick, plump, and juicy.
If I put it in boiling water, they get plump... but too wet.
If I put them on the grill, they get plump, but a bit burnt and less juicy.
What I do is take a few hot dogs and place them on a foil sheet. The foil sheet is sized enough that I can cover up the hot dogs and then fold the ends. I place it on a cookie sheet and place it in the oven. I leave it at 350 degrees. From time to time, I check them. When the time is right, the bottom is grilled-like... the hot dogs are plump and thick... the juice has been staying inside, cooking, and keeping it moist... and the overall flavor rocks!