I use a small roller.
It is a 2” rubber roller; like is used for rolling over wallpaper seams. I hold Willy’s head between my index and thumb and lightly roll across my palm. First the right side then the left, and then the top.
This appears to have the same effect as jelqing. The head swells with each stroke of the roller. There is no need to be at all erect, and no need for lube.
I haven’t been at this long, so I would appreciate someone’s opinion of this who has been into PE for a few years.