Depending on the depth of the burn and the strength of the medication, pain free may not be realistic. Some of the most painful burns are the burns that only damage the first layers of your skin because they leave the nerves working relatively well. You might try an anesthetic cream with benzocaine for pain relief if your burn is small. If it is really painful or large see the doctor. You want to be sure it doesn't get infected. You can also take Tylenol or Advil as well.
Go to the doctor and depending on how severe the burn is they should give you SSD cream! It is given to burn patients from fires, sun burns, chemotherapy, etc! We make it at the pharmaceutical plant I work at, it's really good medicine.
WOA!!! people!!! NEVER!!! NEVER NEVER!!! use only aloe vera or anything like that, it only insulates the temperature, if you have blisters then it is a 2nd degree burn and should not have ice put on it or it might shock the skin, run cool water over it for a few minutes then ice then aloe. i hope it heals soon