After clearing the plan cache on SQL Server, how do I regenerate execution plans for stored procedures without executing the stored procedures themselves?

When I updated statistics this morning, one of my stored procedures was running really sluggishly. Per some google-fu, I found that clearing the plan cache can fix the issue - and it did. However, if I have to do this again, I'd like to avoid the performance hit from regenerating the plans while a user is waiting for a response.

Version/edition of SQL Server is 2016 Enterprise.