Perhaps an oddity but I've nearly always made every girl orgasm with penetration; including dozens of those who've never had any orgasm in their life or never had a vaginal orgasm. My perspective is that passion, connection, multiple positions, a big dick, good endurance, and some lube are the keys to this.
As referenced by others, paying attention to the female body is key. Some will orgasm from long strokes, some from shallow short strokes, some from intense hammering, while others will go off the rails with super deep fornix nudge fucking.