I remove hair from the penis shaft frequently. Some clients do find it more uncomfortable than others, but I havent had anyone say they cant do it yet.
I suggest you start your search here:http://www.electrology.com/find.html
i happen to know there are many electrologists in the DC area but I couldnt tell you if one is better or worse.
Electrolysis is in my opinion, the best way to remove such hair.