If the object is small, weighing no more than a pound or two.
A kilogram ( 1,000 grams ) = 2.2 pounds, approx.
Thus, anything larger should be measured in Kg, since it is much simpler to describe an object's weight as 3.5 kg, rather than 3,500 grams.
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a laboratory balance or scale
Grams are a measure of mass. Sometimes people interchange the words 'mass' and 'weight'. But mass refers to the quantity of matter, while weight refers to the force exerted on an object due to gravity. So as long as you have 1g gravitational acceleration exerting on the object, then its mass and weight will be the same. Grams are typically used for measuring mass of small objects. Example: a US nickel has a mass of about 5 grams. (Some people would say it 'weighs' 5 grams).
This cannot be sensibly answered. Milliliters is a measure of volume and grams is a measure of weight or mass.
grams
I would describe their weight in grams.