As the others have said, this is not a way that people get HIV. HIV is fragile and air inactivates it. So, touching another one's penis or glands with your hand, mouth or penis would not transit the virus. The only ways that adults get HIV is from having unprotected vaginal or anal sex or sharing IV drug needles.
The only ways HIV is spread are:
-Unprotected anal/vaginal penetrations.
-Sharing needles to inject drugs.
-Mother to child.
All the best.
No, it is not possible to catch HIV this way.