that's the leakage trough the filter capacitors inside the power supply - it's something normal
you can solve it with a grounded power supply or by adding extra connection from the iron to something that's properly grounded (through some ~ small resistor)
from the pinecil description page:
https://wiki.pine64.org/wiki/Pinecil"
6. Check that all 3 external screws are present
One near the back of the screen (ground screw for optional ground wire)
One at the front on top (to hold the tip in)
One at the front on the bottom (to hold the case together, does not touch the tip)
"
another way - use with with an usb-c power bank.
this is how i'm using it - and i've never had ESD issues. (example: ip2368 module and a 4S2P made from some left-over INR21700 cells)