These sound like what is called pearly penile papules or PPP. These are not harmful. https://www.medicalnewstoday.com/articles/320277 These are really common if that is what it is with 8 to 43 percent of men having them at one time or another. They can be white or pinkish white and are exactly where you describe. PPP present no health risk! A doctor can diagnose this for you. They 'can' provide treatment if the bother you. Freezing them off is the most common method used. But you have to get that diagnosed by a doctor. Let us know what you think.