Pitou probably doesn't have a penis. Youpi seems stereotypically male and doesn't have a penis either, it'd be counterproductive for royal guards who exist to protect, to have organs that could reproduce and pose a threat/competition to the kind.
They're not male or female in the traditional sense, more like sentient sentry.
But in waifu land Pitou is still fair game. He looks more or less like a sexdoll.