It can be a genital wart or some benign skin growth. There is currently no FDA-approved test to detect HPV in men. Genital warts can be diagnosed through visual examination of the penis and surrounding areas. So get it examined 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 doctor. I sincerely hope that helps. Take care and please do keep me posted on how you are doing.