Shape the beef into 6 (1/2-inch thick) burgers.
Cook the burgers in a 12-inch skillet over medium-high heat until well browned on both sides. Pour off any fat. Top each burger with 1 slice pineapple. Reserve the pineapple juice.
Stir the soup, reserved pineapple juice, sugar and vinegar in a small bowl. Add the soup mixture to the skillet and heat to a boil. Reduce the heat to low. Cover and cook for 5 minutes or until the burgers are cooked through.
Split the bread pieces. Serve the burgers and sauce on the bread.
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