Professor Farnsworth says his former crew was killed by "space bees". In the pilot he said they were killed by space wasps. Bees are not wasps and vice-versa.
Fry was wearing a sealed, air-tight space suit, there would be no way for his DNA to get into the royal jelly, nor for the jelly to get into his underwear. If jelly did get into his suit that would mean there was a leak and he would have died in the vacuum of space.