Can he wipe over his khufoof when removing madhiy (prostatic fluid)?

No File Exists
Check below answers in case you are looking for other related questions:
Differences between semen (maniy) and urethral fluid (madhiy)
Is it necessary to wash the clothes and vessels of one who enters Islam?

No File Exists
Related Answers:
Ruling on using blood meal fertiliser or derivatives thereof
Ruling on praying in a garment on which there is some impurity that has dried
Mother’s milk is taahir (pure) according to scholarly consensus
Differences between semen (maniy) and urethral fluid (madhiy)
Is it necessary to wash the clothes and vessels of one who enters Islam?

Recommended answers for you:
Trees mentioned in the Qur’aan and Sunnah
Detailed ruling on body piercing
Al-hijaamah (cupping): what Islam says about it, its benefits and the times when it should be done
Her husband treats her kindly but he does not give her her shar‘i right to intimacy; what should she do?
How can a woman pray Taraweeh in her house?