Glad to have you with us. You can review basic HPV transmission information on our site at http://www.ashastd.org/learn/learn_hpv_facts.cfm
Genital HPV is transmitted through skin to skin contact. This includes any genital to genital contact, as well as vaginal and anal sex and, as Betsy points out, does not require penetration.
The risks of genital HPV transmission and oral sex, as well as hand to genital contact, are less clear. Any route of transmission apart from that described above is probably uncommon, but certainly can't be ruled out. The risks of hand to genital contact and genital HPV is usually discussed in the literature I'm aware of more in the context of genital warts, rather than cervical precancers, but I don't have a great deal of specific information beyond that.
Hope this helps.
All the best,