Currently using one of these from Amazon.
DEWAY Automatic Fuel Transfer Pump with Auto-Stop, 3X More Powerful D Battery Powered, Extra Long Hose, Portable Liquid Pump Transfers Gasoline, Water & More at 2.3 Gal/Minute
The pickup tube is a bit short to leave the can on the floor, but setting a 5 gal can on a 5 gal bucket gets it done without dripping or scratching anything. Get the one with the longer discharge tube to reach all the way.