How do I make my boyfriend cum?

So every time I make out with my boyfriend things get a little steamy and I always end up touching his dick thorough his boxers but I have never actually made him cum and I feel kinda bad about that. He gets really hard and excited and produces a lot of precum but i really want to finish him off so i would really appreciate some tips to make the session more enjoyable for him. (We only touch each other through our underwear and i dont want to go any further so keep that in mind?)
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  • Straddle him and rub yourself on him while talking dirty.