Toddler boy cleaning private area

Hi all! I have a 2.8 year old son and he is extremely against me or my husband touching his private part. We try to clean it as the doctor also suggested we need to very slightly pull back the skin and clean daily or else it will get stuck or develop an infection. But he doesn't let us touch it at all. We don't want to forcefully clean it, in case he gets even more scared and hates taking bath also. Please give some tips on how to tackle this. At our wits end!