Ahhh be prepared for many different points of view! Your doctor was right not to be concerned, joint cracking when not accompanied by pain is not necessarily a bad thing. Although there are a few theories out there, many agree that cracking is caused by gas escaping from a joint. When a joint bends, the joint capsule stretches. To accommodate this stretch, gases 'bubble' out of the joint fluid. The cracking sound is the sound of this gas rapidly escaping. Tendons and ligaments can also make a sound when they are not alligned correctly, however this is unlikely in your case, as many joints are cracking, not just a single joint. I see you are a young 'un, so It's unlikely the creaking is due to arthritic joints...you say you have no pain and I'm pretty sure arthritis is fairly painful! Im no expert on it, but I hear yoga helps creaking joints. Rather than building the muscles surrounding a joint, it trains them to stretch which surely isnt a bad thing? Im sure there are some yoga experts on here that could clarify that for me? :-D
I am no Yoga expert, but at your young age Yoga can only help, and if you are fairly flexible, it will be easy as cake for you to, in time find the right thing to loosen up them joints. When I was in 5th grade I played baseball, after the season was over I was able to crack my ankle repeatedly, as you can do with your wrist. I had fun with it, but after a while I willed it away and now I can't do it. Use your will power... or keep growing. Now I got a knee on the left that does it, but not at will and it hurts, but that I know of and stay stretching because of, hopefully what you have can be fixed by my first suggestion, which is Yoga. I would bet something if I had it that you will love the Yoga.