Any sort of lump,bump or growth found on or beneath the skin is by definition a tumor.Tumors are classified as benign when they are not a cancer - and malignant when they are.
Classically, a benign growth is one that grows slowly, is surrounded by a capsule, is not invasive and doesn't spread to other parts. However, there is no good way to tell whether a tumor is benign or malignant without removing it and examining it with a microscope. If the tumor is found to be benign, then it won't come back if it has been completely removed.
Cancers usually enlarge rapidly. They are not encapsulated. They appear to infiltrate into surronding tissue and may ulcerate the skin and bleed. A hard mass which appears fixed to bone ( or a growth of the bone itself), is a cause for concern. The same is true for pigmented lumps or flat moles which start to enlarge and then spread out and begin to bleed.
A hard gray or pink open sore which does not heal, especially on the feet and legs, should be regarded with suspiction. This could be skin cancer.
Any unexplained lump,bump or open sore on your cat should be checked by your veterinarian. Most cancers are not painful, so do not delay because your cat does not seem to be feeling uncomfortable.