Hello,
From your symptoms it looks like you are having sebaceous hyperplasia or Fordyce spots. They are small, painless, raised, spots or bumps 1 to 3 mm in diameter that may appear on the penis. The spots are a form of ectopic sebaceous gland, and are not known to be associated with any disease or illness and are of cosmetic concern only. They are non-infectious and a natural occurrence on the body.
They should be got removed only for cosmetic reasons as they are normally found on the penis. The other possibility is of genital warts or skin tags. In my opinion, you should get the diagnosis confirmed from a dermatologist.
It is very difficult to precisely confirm a diagnosis without examination and investigations and the answer is based on the medical information provided. For exact diagnosis, you are requested to consult your dermatologist. I sincerely hope that helps. Take care and please do keep me posted on how you are doing.