well i kind of managed to do that once, well when i say kind of, it did involve stimulating the penis but not with hands, First of all u have to be really turned on i did that by not touching my self for about a week or so, I didnt use a dildo or anal stimulation but it may help, All i did was watch some lovely ladyboys porn and my imagination, when i was fully hard dipping with precum, i held my legs tightly closed together and started moving, as if i were inside some one, the inner stimulation did the job and i came all over my belly. it was very nice and i felt very sexy.