Sure it could, especially if there is no other obvious sign of irritation (redness etc).
Thank you for your response
I have now got and itch on the tip of my penis. Could this also be caused by anxiety?
Prrostatitis is rarely if ever an STD, and it isn't "acquired" from outside the body. It's an internal inflammatory condition. And with this brief contact, you were at no realistic chance of infection. The most common cause of "prostatitis" symptoms is anxiety, causing increased pelvic muscle tension -- the same basic physiology as tension headache, which is the result of muscle tension as well. Google "chronic pelvic pain syndrome" and start your reading with the excellent Wikipedia article that will be near the top of the google hit list.
I'm sure you have nothing that can be transmitted to a sex partner.
Cipro won't make any difference, since it is unlikely an infection is the cause. Urologists and others always prescribe an antibiotic in the hope it might help, but it rarely does.
Good luck.
If you only had contact for 5 seconds then I don't think you got anything.