Plucking might lead to ingrown hairs. I would suggest trimming them with a hair trimmer with a #2 adapter. Or just leave them be. The most important parts to trim are tufts of hair on either side of the penis.
Hair removal cream is a complete NO NO on the genitals. It can really burn badly.
That is why I have said do it carefully! It is not a problem as long as you try a small bit, and never exceed the time recommeded to leave it. I do often on my scrotum and penis shaft, with great results. Get the one made for sensitive areas!