1Heat gas or charcoal grill. Carefuly brush vegetable oil on grill rack.
2Place corn directly on grill over medium-high heat. Cover grill; cook 8 to 10 minutes, turning occasionally, until lightly browned on all sides.
3Meanwhile, set aside one small bowl of mayonnaise, one with taco seasoning, and another of crumbled cheese.
4Brush cooked corn with mayonnaise; sprinkle with taco seasoning and cheese. Serve hot with cilantro sprinkled on top.