I used to all the time. There was a place in the Portland, OR area that is now closed. $20 for a lap dance and most of the girls would spend the entire song just grinding on my dick. Mostly their ass, but sometimes their legs, tits, hand, head, or even bite it gently through my pants. I'd always make sure to wear slacks or shorts, not jeans. It would usually take me a few songs until I was ready to cum. The good dancers could sense it and drag it out a bit to get more money.
I'd let out a quiet grunt when I'd cum. some would ignore it, others would say something. It was always something like glad you enjoyed it, nothing ever negative. As a heavy cummer, I knew my boxers and pants would be a complete mess. And if I had on something light colored, there would be no hiding my wet spot.