Penile papules are a normal anatomical variant. They are benign and not dangerous or contagious. There are varying figures on how widespread penile papules are, with the figures ranging from around 10-40%.
They are seen as one or more rows of skin tags along or just below the edge of the glans penis. They usually cover the entire circumference of the penis, and are most prominent on the upper side (opposite side of the penis string; frenulum).
Each individual penile papule is approximately 1-4 mm in size. They can be slightly shiny (and are therefore called "pearly penile papules" in English).
Penile papules do not cause any kind of discomfort.
Penile palps are a normal anatomical variant and consist of connective tissue and small blood vessels.
One does not know for sure why these appear. Sexual activity and hygiene have no bearing on whether one develops penile papules.
Penile palps do not need any treatment. They often become less visible with age and may disappear completely by themselves.
If you are very disfigured/bothered by the growths, you can consider trying to remove them with, for example, laser or cryotherapy (freezing treatment). Such procedures often have to be repeated and are rarely done due to the risk of scarring.