I'm not at all sure why you'd think an infant would have a sexually transmitted disease, but no.
Even if you touched an adult's genitals who had genital warts, they aren't transmitted by hands. Hands don't transmit STDs.
If you think an infant is at risk for an STD, you need to report that to the police. The only way to get genital warts is through sexual activity.
If you don't think this baby is at risk for an STD, this is irrational thinking. Please talk to your doctor about your anxiety. Your mental health is as important as your physical health.