Here's a simple technique that should help. Right after your urine stream stops, "milk out" the last few drops of urine. Using the fingertips of one hand, begin about an inch behind your scrotum. Gently press upward. Keep applying this pressure as you move your fingers toward the base of the penis under the scrotum. Repeat once or twice. This should move the pooled urine into the penis. You can then shake out the last few drops. With practice, you should be able to do this quickly.