The key to forming them is to create to larger arepas, stuff the cheese in the middle carefully seal up the edges then use your hands to shape them into an even round.
Because they tend to be thicker than standard arepas and you need the cheese to be melty, I find that finishing them in a toaster oven (or on the cooler side of the grill if you’re grilling them) is the easiest way to go about it.
Sandwiches
While in Colombia you’re far more likely to see wide, thin arepas made with toppings, in Venezuela, arepas tend to be thicker, with fillings sandwiched into them after splitting. The method for making these arepas rellenas (stuffed arepas) is pretty much exactly the same, though they are thicker so will need even more gentle cooking to cook through without burning on the exterior.
This is best accomplished by starting them in a skillet, then finishing them in an oven.