I'm an Israeli, now living in the US (double citizenship). What's the best way to take out my Israeli pension money while paying the least amount in taxes?

Anon, thank you for the A2A, but you have left too many things for me to figure out. By your choice of words, it does not seem to be an "Old Age retirement". If you worked "for a few years" for a company, you (and your employer) have contributed to a fund (a "nasty" egg), in your name, for when you retire (of Old Age). Quitting a job does not AFAIK automatically entitle you to a "pension" dripping every month thereafter in your bank account, neither to actually withdraw all or part of those monies, except in dire personal difficulties dully documented and approved by Bituach Leumi (that's the National Insurance Institute). Please make this a starting point to help me deliver ("earn") your A2A! Shavua tov!