Immerse each rice paper wrap in warm water for 15 to 20 seconds until softened, then lay flat on a clean towel or board.
Place a slice of low-fat cheddar cheese, 2 to 3 tablespoons of beef mixture, a portion of shredded lettuce, and several pickle slices in the center of each softened rice paper wrap.
Fold in the sides of the wrap and roll tightly to encase the filling. Arrange rolls seam-side down on the prepared baking tray.
Optionally sprinkle sesame seeds over the tops. Bake for 20 to 25 minutes, or until wraps are golden and lightly crisped.
Allow to cool slightly before serving. Accompany with a low-sugar ketchup or Big Mac-style dipping sauce if desired.