Do you wash your package with soap a lot? Or do you rub it a lot? Maybe this is some kind of skin problem, I don't think it's cancer... But you'd better check for good, could be pretty serious.

But its been like this as long as I can remember

Can you tell what it is yet? I think I had the same thing as you. It occurred all over my body at different times over the years and for me its no more than water blisters, what I use is an exfoliant to get rid of the blisters and try to make sure I dry properly afer washing, talc is good but I suggest sensitive and non smelly, caution is advised for the sensitive areas.