What procedure should I go for to remove swollen lumps on feet and ankles? (Photo)

I don’t know what those swollen bumps are I had these bumps on my feet below and around my ankle and some on the edge of my soles. They feel soft to the touch and not painful at all. I noticed them after I gave birth to my first kid. It’s been twelve years since then. They didn’t disappear and I would like to remove them for cosmetic reasons. I would like to know what are these and what procedure should I go for.