Ahhh, my favourite subject :)
I'l start by saying that the wife and I enjoy some bedroom fun - just not as often as I'd like so I'm 'allowed' to take myself in hand when the mood is there.
FWO or floppy willy orgasms, are, for me, extremely enjoyable with zero mess (I don't leak urine) and again, like some others, I didn't have a lot to start with and have even less now - but it still works. I can't get on with using lube myself but if my wife is helping then lube is a must.
I found a cheaper version of the Hot Octopuss (£22) that is brilliant - it's meant to wrap around a penis but I simple flatten it out and place it against the penis so the vibrating nub is against the gland. Given some mental stimulation with pornography, I can orgasm very satisfactorily in about 5 -7 minutes.
I did have something similar to Decho's that required an erect penis and lots of lube but for some reason I can't get it to work with my VED erect penis - if the penis is too hard/erect then the nerve sensations feel different although it works OK for intercourse.
If anyone wants to try something a little different then I found some excellent VR porn that I can access through the web browser on my Oculus Quest 2 VR headset - now that is quite a new sensation!