As a heads up, this is the sort of question that's great for the Short Answers to Simple Questions thread.

Did you have a specific language or civilization in mind? For ancient Egypt, the usual verb was sti, "to shoot." From right to left, the word contains a folded cloth (the phonetic sign s), a loaf of bread (the phonetic sign t), a hide target with an arrow (a determinative/classifier), and a phallus (another determinative/classifier). The same verb was used for archery but without the phallus determinative.

Like today, however, the Egyptians often used alternative expressions. The Tale of Horus and Seth provides two examples.

In the first example, the god Seth ejaculates between the thighs of his nephew in an attempt to dominate him sexually and therefore politically, as the two are struggling for kingship.

xr-ir m grH iw stH dit nxt Hnn=f iw=f dit Hnnw=f r-iwd mnty n Hr

Now in the night, Seth caused that his phallus be strong, and he placed his phallus between the thighs of Horus.

wn-in Hr Hr dit tAy=f drwt r-iwt mnty=f iw=f sšp tA mtwt n stH

Thereupon Horus placed his hands between his thighs, and he received the semen of Seth.

In the second example, Horus ejaculates into a pot.

wn-in=s in nkt n sgnn nDm iw=s dit=f r Hrw n Hr

Thereupon [Isis, the mother of Horus] brought a little bit of sweet oil and placed it on the phallus of Horus.

wn-in=s dit nxt=f iw dit=f r wa DADA

Thereupon she caused that it be strong, and she placed it over a pot.

iw=f dit hAy tAy=f mtwt r=s

He made his semen drop into it.

Source: Transliterations and translations are mine, taken from the hieroglyphic copy of the tale in Gardiner's Late-Egyptian Stories.