Simply play any game that will not finish as a draw, for example a Cup Final or FUT Squad Battle.
A few tips that might help are:
- If you do this in a custom game you can make the length of the game shorter, you can also choose to go straight to penalties after the 90 minutes
- If you use a second controller simply put them on the opposite team and wait for the game to "finish"
You can win the penalty shoot-out without having got to the 5th penalty like it used to be in the old fifas, as you can see I won in the 4th.
I created this video to help:
Hope this helps.