It may seem odd to call cloth a lubricant, but it can serve a similar purpose. In my personal experience, cloth works best when you have two layers. Cloth rubbing directly against skin will chafe pretty quickly, but if you can hold one layer of cloth against your skin and then rub another layer of cloth against it, it usually feels pretty good. You might try a shirt doubled over, or a shirt over a sock, or whatever floats your boat. The results depend a lot on the type of cloth—some kinds or combinations work better than others. A personal favorite is to use some kind of sheer cloth (something like silk) against my penis and then a more normal cotton or t-shirt type cloth on top. (Weirdly, if you go silk on silk, you have to be careful wich side of the cloth you use for the inside and outside layers, because certain combinations tend to catch and kind of hurt.) One benefit of cloth over the other lubricants is it's less messy and cuts down a lot on cleanup.