Yeah, my boys both get little erections all the time. Jackson always has one in the morning before he does a wee, could knock a lamp over with it. Leo's aren't quite as severe, but both have got them since birth - completely normal, and not sexual at all.

In regards to cleaning I just give Leo a good wipe after a nappy change. I lift his penis up because he can get a little "cheesy" in the crease where his prenis joins to his testes, but I never pull the foreskin back, and agree with everyone else that it is a big nono. Jackson is 4 and his foreskin has not retracted at all. I give their bits a good wash with soap in the bath each night and they have never had any problems