How do I make my girlfriend come without going under clothes?

I was with my girlfriend at her house recently, and we were given some time alone in which we started kissing deeply and getting a little frisky. It was at night, so we were both in pajamas, and we ended up getting a little bit sexual. Just groping and kissing the neck, etc. After a while, I started touching her pu$$y over her pajamas, and it seemed like she liked it because she started breathing harder (and moaning a little too), getting kind of wet, and her hips started moving in rhythm with my hand. We were kissing through it, and after a little bit I stopped kissing her to ask her how it felt/ where it felt better etc. A short bit after that, she stopped me and told me that she was feeling something/ that she was close to cumming. This happened twice, on two different days, but I couldn’t get her to cum all the way.

So my questions to you kind people are: How can I make her come, without directly touching her vagina? So basically, over her pajamas and/or panties.

And: Do You have any tips on how I can make her cum this way?

Thank you all in advance for reading this exceedingly long request, and answering it if you do.