Thaw overnight in the refrigerator prior to cooking. Grilling or Broil: Baste with garlic butter or other sauce if you like. Grill or broil for 6-7 minutes with the meat side up, flip and cook for another minute. Steaming: Steam thawed tails for 7-8 minutes. Baking: Bake tails on foil-lined pan at 375°F for 15 minutes, shell side down. Lobster Tails are fully cooked when white all the way through the meat and an internal temperature of 140°F-145°F has been reached.