Hello,
What you are talking about is common wart or verruca vulgaris which are commonly found on the hands and knees.The are caused by a different strain of the virus which causes genital warts but they are contagious when in contact with the skin of an infected person. It is also possible to get warts from using towels or other objects used by an infected person.
If you are having common warts on your hands,then chances of infecting your friend while dressing are always there because a close skin to skin contact is needed for transmission of the virus.
I hope it helps. Take care and pls do keep me posted on how you are doing or if you have any additional doubts.Kind regards.