My method. Heat the lug and fill to 3/4 with solder then add the stripped cable until it hits the bottom keeping the heat on the lug. If you have judged the solder right it should then fill up the lug completely if not remove the cable and add more solder then add the cable which will now be tinned.
Now here come the difficult bit, remove the heat while holding the cable perfectly still until the solder has set. If you have an offsider have them put a wet rag on one side of the lug to hasten the cooling reducing the possibility of moving the cable while the solder is setting.