They give me no pain or discomfort I just want to know what they are. I have had them for years now

They are just bumps that are extremely normal for both men and women to have on tender skin that is usually keep enclosed in clothes and which tends to be somewhat moist.
What they are technically can vary from an irritated hair follicle that grew tissue around it to skin 'tags' which include all sorts of things caused mostly by viruses. You may get cysts, which are larger and more temporary, and which can be filled with water, fat, hair, etc. In short, there are all sorts of bumps around the crotch, armpits, ears, eyelids, under breasts, anywhere the skin is folded or hidden.