Likely semen: Semen is constantly produced although usually only escapes with a sexual climax or as wet dream fluid. Yellow color is primarily from small amount of urine mixed with semen. Hope you have normal forceful urinary stream because presence of a urethral stricture (narrowing) could account for semen leaking. You can have a stricture without any burning, just takes long time to empty bladder.
Answered 11/3/2016
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