I like to press my semi-erect cock against something stationary but not solid, like the end of an arm of the couch, pushing it and backing off over-and-over, letting the sensation build as I imagine I'm fucking someone, or a guy is behind me, fucking me in the ass. I can cum in less than 2 minutes this way, and never need to reach full-erection.
The best semi-erect experiences I've had with other guys' cocks are when I'm blowing a guy starting when his cock is still soft, then feeling it grow in my mouth.
Here's a series of pics I made of my cock as it grew erect.
