I have always thought of milking as erotic prostate play but I recently had a client (hence the topic) who wanted to be on all fours (he was hot, too!) and be touched and jacked off with his cock between his legs pulled back.
There are videos showing this method but I cannot link them here.
It's a slow tease. Some different hand motions that he taught me (thanks, if you're reading this) and when he orgasmed, it seemed exceptionally intense.
This was done on his knees. I was in back of him.
Hands only. And each little drop of sperm was squeezed out from the bottom of his cock to the tip.
Hence, his term of "milking".
Works for me!
Elisabeth