Firstly, you need to consider the source of your information

How do you know your penis is small? What are you comparing it with?

If you decided your penis is small by looking at your friends and age mates in the changing rooms at school, remember that the size of the flaccid penis bears little or no relation to the size of the erect one

If you decided your penis is small after looking at pornography, keep in mind that men in these pictures and films are often chosen because they have exceptionally large penises

If reports of figures made you decide you are small, remember many if not most men lie about the size of their penis when questioned, often exaggerating by several centimeters.

So, keeping in mind that you may not be as under endowed as you believe, how can you best pleasure a woman?

Many authors have had a lot to say on this subject;

The Perfumed Garden (Ch 6) says:

"MANNER THE SECOND - If your member is a short one, let the woman lie on her back, lift her legs into the air, so that her right leg be near her right ear, and the left one near her left ear, and in this posture, with her buttocks lifted up, her vulva will project forward. Then put in your member.

The Kama Sutra says: 

If your penis is too small for a woman, the "Samputa" group of postures should be used:

In Samputa your legs lie along hers
caressing their whole length from toes to thighs.
Your lover may be below you,
or you may both lie on your sides,
in which case she should always be on your left.

In Pidita the lovers' thighs
are interlaced and squeeze each other in rhythm.

In Veshtita she crosses her thighs
or rolls each one inward,
thus greatly strengthening her yoni's grip.

When, like a mare cruelly gripping
a stallion, your lover
traps and milks your penis with her vagina,
it is "Vadavaka" (the Mare's Trick),
which can only be perfected with long practice.
When she uses it, a woman
should cease to kiss her lover
and simply hold the lock.
Courtesans are adept at Vadavaka,
and it's a speciality with ladies from Andhra

But Spider Robinson, speaking through the mouth of Mary Callahan, speaking to Mickey Finn,  in The Blacksmith's Tale, says:

"I can see fingers and a tongue from here; anything else is gravy"

I tend to agree with Mary. If you have fingers and a tongue, and the right attitude, the rest is window dressing.

To sexually pleasure a woman, the first step is to wish to pleasure her. Take time to explore her body. Make sharing sex a true act of love, and not a mechanical process.

Become an expert at cunnilingus. Become an expert at digital stimulation.

Become and expert at listening to and observing your partner.

Remember: the quality of a lover is not determined by the size of his penis. Rather, the amount of care, effort and enthusiasm he puts in are what decides this.

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