I'd get an USB cable of suitable length with a standard USB male on one end, and cut off the other end.
I'd also get an USB female breakout board, like
this one.
Connect the USB cable to the breakout board, and you can use your multimeter to probe which wire in the cable is which.
Then, I'd solder the four cable wires to the VUSB, D-, D+, and GND pads underneath:
Note that the pads and solder joints are pretty fragile, so it's imperative to keep the USB cable fixed with respect to the Teensy; perhaps using hot melt glue or UV-curing glue to glue the cable to the USB connector, pointing to the other end of the Teensy.
The end result is a Teensy 3.2, with a fixed USB cable, and a standard male USB connector on the end.