I am pan, and have been with all sorts of people, and I have this one ancient, infallible technique that always guarantees a good time:

Listening

I'm dead serious. It works wonders across the entire board, regardless of gender, sexuality, body type, ability, or equipment configuration. Whoever your partner is, communication is your most valuable tool. Whether verbal or non-verbal, listening to what your partner has to say about what they want and how they feel will always tell you what to do.