The only activities that could put you at risk for HIV are:
1) unprotected, penetrative anal or vaginal sex, or
2) sharing IV drug needles.
You didn't have any risk for HIV from your encounter, regardless of any cuts or scrapes that both of you had, and you do not need to test for HIV. Blood-to-blood transmission only occurs in cases of SEVERE trauma - the kind of extreme bleeding that would result from a major accident.
A handjob is not a risk for HIV or any STD, no matter what.