From your description, it looks like you are having genital warts
on your penis. This is an infection due to human papilloma virus
and is highly contagious. It appears like a cluster and initially painless. Later there is little itch in the area.
A person can be infected by the virus and yet not show any signs or symptoms of disease.
Please consult your doctor to confirm the diagnosis. If you have warts, the lesions can be cauterized. Medications may be prescribed to you.
Hope your query is answered.