If they have been there as long as you can remember and no chance of an sti, they are probably sebaceous glands in your skin. It is reasonably common for them to develop on the penis shaft, apparently much more common in uncut guys. I paniced at first and saw a skin specialist who assured me they are normal, may disappear when older but maybe not. Strange thing is after that I asked some friends, at least 3 of them said they had the same and it had been stressing them out. I think guys need to be more
open in communication! I had stressed for years that it may have been something worse. You should be able to find some examples on google if you so some searches, or can probably see them on some of my pictures.