Do I have delayed puberty, and if so, should I get testosterone supplements?

Hi. I'm a 16 year old boy, 5'8", 160 pounds, but I feel as if though I have not yet completed or even gone through most of puberty. My voice is higher than all my friends, and while still not as high as it was a boy, it is still pretty loud. My skin is very soft to the touch, and I have little to no arm hair, and my leg hair is barely visible. I do have pubic hair, but one thing I am worried about is that my semen is still clear, not white. In addition, I have not yet begun to shave, and there is barely any hint that I will even start this summer. I do have a few armpit hairs, but maybe 4 or 5 long ones, no more. People say I look 13 or 14, even though I really am 16 years old. Would those natural testosterone treatments you can find in GNC help boost my rate of puberty a bit? Or should I go to my doctor and inform him of my worries? Thanks.