The right way to do it is to surface mount the Teensy, so have all the pads etc on the PCB, stencil solder paste down and then reflow the lot. This of course assumes a whole bunch of skills and equipment you may not have.
If you are working through hole an option that may be good enough is:
Tin both pads before soldering pins onto your Teensy
Design your PCB with a pair of oversize holes without copper (1-2mm dia) lined up with the pads. Not having the copper is to avoid heat sinking in the next step
Tin a reasonably sized solid core wire, pre heat it then feed it through the hole keeping iron in contact with the wire to keep it hot. Use pliers for this since the whole wire is going to heat up.
Then solder the wire down the the relevant place on the PCB, noting the need to keep D- and D+ as a balanced pair.
Idea is to use the wire to heat the pad area, which goes against sensible soldering practice (have both parts to be joined at the same temperature and heated at the same time).
I have done this to salvage things when two boards are already soldered together but would not suggest it for any released design since the vertical wire to pad bond is going to be marginal.
A better solution if space and design allows would be to use a pair of wires as described above and run them off to either your PCB or the socket, which will maintain the impedance and noise canceling nature of the twisted pair.
