Sometimes I fill at home with a funnel from one of those plastic safety fuel cans (cannot buy any other kind around here)
.....but on the road: I fuel before sunrise, at the same BP pump, using the same hand, fuel from the same side, flash light in the other to watch down there. Smallest squeeze which will start the fuel slowly.
The only time I spilled some was when I was in a hurry; went to a diiferent pump and used a different hand coming in from a different side of the scoot.
Like using a pencil - repeat with the same hand - and you'll get good at it.
I fuel early, using my card, before the station is actually open with a salesperson - so I can take my time.
Stig