I have tried to light gasoline with a cigarette. After several hours of trying, I finally figured out how to do it. It requires smoking the cigarette with vacuum cleaner, while spraying compressed oxygen. You then get a small flame on the paper which will ignite the gas.

My tests suggest pumping gas wearing a sweater is probably more dangerous than smoking. Igniting vapors with a static spark is actually much easier.

If you car is newer than 2006, there is basically zero chance you are in any danger. The ORVR systems are a really nice piece of engineering that is mandatory.