I've always favored dry methods for jerking off.
I had a J/O buddy who taught me to masturbate during puberty. We used to jerk together just about every day for 2 years, and always used our bare hands. Never got rubbed raw, probably because we came so fast at that age.
On my own, I discovered how different fabrics made my dick feel good. I found that jerking off with the seat side of a pair of briefs felt really good. The cum stained the white cotton, so I had to keep a dedicated pair of briefs to shoot into and keep them hidden from mom. They nylon mesh liner of my swim trunks felt even better, but I could only do it before I went swimming so mom wouldn't notice the cum stains when she did the wash. I've used briefs for J/O ever since puberty, and really like it.
I've tried lotion, vaseline, oil, lube, etc., but those methods are too messy. I found that baby powder can be a lot of fun. Stumbled on it by accident back in the '70s. I lived in AZ and thought it would feel good to sprinkle some powder on my crotch after my shower before I put on my underwear. Oh, it felt good all right! I rubbed it on my dick and balls and got sprung. That led me to keep jerking. The powder cuts the friction and feels so slippery and good. I applied more powder and had an epic orgasm. If the powder gets on your bed or the chair, it's easy to brush it off with your hands.