Not sure what you mean by experimental method, but you could cap one end, fill it with water or other fluid then pour the water into a graduated measuring vessel.
Another method would be to measure the ID with a digital caliper, measure the length and use the simple formula for determining volume of a cylinder.
tape the ends force it into a fluid(water) in a graduated measuring device and measure its displacement. Remove the tape drop the tape and the straw back in measure its displacement. subtract the two
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