This is often performed as part of "post-orgasm torture": palming the glans after the ejaculation, when it is sensitive. However stimulating an unbearable urination urge requires a special technique. Best performed in the shower (see the instructions below). You just need a full bladder. No orgasm necessary.
I discovered the topic mainly due to my AB interest in losing the bladder control against my will, which I often fantasize and write stories about: peeing due to unbearable tickle, the so called urge incontinence, etc. Wishful thinking. It cannot really happen to a healthy adult. But this technique works 100%. It's not for everybody. Most males cannot handle the intense sensation. Yeah, I dare you. 😃
One of the few links I managed to find: https://www.lpsg.com/threads/male-squirting.310535/#post4247408
The second video shows the technique in great details.
You can also find a discussion about the "peeing reflex" here: http://www.ura-akiba.jp/archives/2009/02/post_1897.html (translated from Japanese via Google).
What do you think? Circumcised guys are probably less sensitive, but it should still work. The easiest way is to use one of the vibrating Sonic toothbrushes: pressed lightly to the glans. You'll find the right pressure. Never lubricate it with anything but water. Maybe soap, though be careful. The area you want to stimulate is a spot directly above the urethral opening (on the side opposite the frenulum). Maybe touching the slit a little. You can press the toothbrush along the shaft or perpendicular. I think the first way is more effective, as it stimulates the urethral canal. Do it in the shower, so there is constant lubrication with water. Though it is vibration, not abrasion. Just press, don't move the brush.
Once you mastered this technique, you can try to achieve the same with just your palm rubbing the same area perpendicularly with the right pressure. No lubricants other than water.
Like I said, no prior orgasm is necessary, unless you want to experience something extreme - performed by your girlfriend/partner, since you will not be able to torture yourself willingly.
Good luck! I also believe women have the same sensitive spot next to their pee hole. Am I right?