We get Maple Leaf natural casing hot dogs. I grill them. Agree with
@August_West to some extent. When we make ordinary packaged Ball Park franks, like if feeding several kids, those get boiled.
As for condiments, that's personal and there is no right or wrong. Onions make me ill and I detest mustard and relish both. As an employee of DQ in Manchester during high school, I strongly prefer chili if available. Otherwise I make do with ketchup.
Heading to Chicago next week, where I can try their "superior to NY in every way" hot dogs, and this board's favorite...deep dish pizza that some insist isn't really pizza.