Skin coloured non scaly lesions on the skin are usually infiltrates, ie the pathology is in the dermis rather than the epidermis. ( Involvement of the epidermis usually gives scale or crust of some sort).
Hence the lesions are skin coloured papules, possibly red if inflammed, and are not itchy. Consider sarcoidosis and granuloma annulare if the rash is extensive and tumours such as neurofibromatosis or leiomyomas if the lesions are multiple and grouped. However one of the commonest causes of smoothe dome shaped skin coloured papules is molluscum contagiosum, a pox virus usually seen in young children.
Dermnet on sarcoidosis
Dermnet on granuloma annulare
Dermnet on molluscum contagiosum