I had precum on my underwear and i touched it with my fingers, will i have sperm on my fingers?

Not really known but: Sperm is needed in order to make a baby. If no sperm, then no baby. An egg is also needed (so that is why sex around the time of ovulation can create a baby). If no egg, then no baby. If a woman is not certain there was either no sperm or no egg in the neighborhood, and she is worried about pregnancy, she can do a home pregnancy test (inexpensive, accurate, sold everywhere without prescription).