Sorry, no. It's not talking about the type of jelly you might eat.
Gene Hunt 's comment is "Good girl! Prostate probe with no jelly". Here, 'jelly' refers to KY jelly, which is a lubricating product used to assist the professional examination of ...um.... intimate body parts. This is because Tyler seems to be in a great deal of pain following the encounter with Annie.
Btw. Annie isn't medically qualified at all. She's a WPC (police officer), and she says "I'm about as qualified as Dr Kildare". This is a reference to a TV drama of the time.