Hi, Welcome to HealthcareMagic Forum.
The Fluid which comes out is nothing but Smegma
. It is nothing serious, since you don't have pain or Burning sensation.
If you develop pain or Burning sensation or any other symptom, Kindly get yourself examined by a Urologist
to rule out the exact cause. Since you are asymptomatic right now, You don't need any medicines.
Wish you Good Health, Take Care.