
I have something similar to this too and I have no idea what it is.
Did the doctor give a description for what it is - because of the location it would most likely be a Penile Lymphocele, with the other most likely thing being a penile cyst.
If it is either of these the only way to deal with them is to let them heal naturally, unfortunately, and form of irritation, such as picking at it, or pressing on it, any sex or masturbation can enlarge it and simply enable it to remain in place.