Hi and welcome.
It's nice to hear someone with a very practical view of the whole penis size thing. I'm willing to be it is one of the most talked about subjects on any message board regarding men's health anywhere.
There are certain positions that will allow the woman to get more from a modestly endowed man if needed. But, as has been said time and time again, the "technique" that makes any man a good lover has little to nothing to do with the size of his equipment.
There are many things that make a guy "good," including personality, friendliness, caring, passion, etc. And remember, what may be "good" for one woman is not for another.
Trust me on this, there are few women who want to be pounded all night long by a fence post of a penis. Especially if the guy with the fencepost is a jerk who thinks he's all that because of his endowment.
Back, though, to your original question. Yes, for the woman that would appreciate more vaginal stimulation from her modestly endowed partner, almost any reputable sex technique book can tell you what works better.
Forget FHM and other trash publications. They are published by those who want the most magazine sales and subscriptions and how better to get those than have headlines about pleasing women with a small penis and/or enlarging it. I'm sure you'll see plenty of ads advertising how to increase male potency and increase penis size. They've got to keep those advertisers happy, right?