This one is missable as this requires something you probably would not do and it took me some time to get.
This is in the beginning of the game in the area where you will need to get the trinkets.
Once the hot dog machine is working, you take a hot dog and put it on the pit of spikes near the beast. Then jump over the pit of spikes which triggers the beast to roast you including the hot dog behind you.
The achievement will then pop.