Basically what the title says. My preferred method of jacking off is laying on my stomach and rubbing the underside of my dick. That's how I've usually done it since I started playing with my dick at 10 years old. Anyone other guys like doing the same?
get your cock hard, lay on your back and slowly pull a long bath towel up over the bottom and tip of your cock and repeat. or if you sleep naked, while in bed and with a hard cock (like the morning woodie) start rubbing the bottom of your cock against your sheets..flannel works best.
I do that as well, and it works while wearing underwear/shorts. I love rubbing my dick against the sheets hands-free and then rubbing it as I'm about to cum.