I’m gonna have to call “cite?!” on that one.
Not because I don’t believe you, but because I’ve got to see that, and google is failing me! 
??? I’ve seen a PSA for the STI conversation featuring the cast of Avenue Q, is there another one with puppets?
Condom ads are not unlike ads for hard liquor:
- The broadcast TV networks are unlikely to accept them at all (and certainly not during prime time)
- Some cable networks will be happy to take them, particularly on later-evening programming.
As has been noted above, Trojan tends to advertise on networks / programs that skew towards young men, as well as on Logo.
The best promotional video I’ve ever seen for condoms was in a scene from Lethal Weapon 2
–G!
…In one ear and out the rubber!