Using a fancy steamer would work great but I keep lo-fi with just a wire rack. Fill your standard pot about a third with water and the rack, then once it’s boiling set dogs in for 4-5 minutes, covered. Really until they are hot but won’t take much. Then set buns in for 2ish minutes to heat and you’re all set.

It’s basically how street hot dog vendors do it. Miles tastier than boiling where flavor goes down the drain with your water.