Thank you very much. i feel better about seeing a doctor now.
If the spots are not sore, and they continue to grow and spread, that does not sound like herpes. Looking like something is inside, either sounds like pimples, or possibly Molluscum. Could be HPV too but it's really hard to tell from that description.
In any event, you are going to have to get over your embarrassment with seeing a doctor. Part of the training that doctors receive tells them not to be judgmental, and I'm sure that any doctor has seen plenty of acne/HPV/Molluscum whatever.
I have the spots on my Penis as well. And the spots have occurred BETWEEN hair.
The only way to know for sure is to take a Herpes test. If you shave, it could just be a hair folicle.