Yeah, longer straight chain stuff should be pretty much harmless, but aromatics tend to be carcinogenic, irritant, stink, etc. (though it depends on the chemical in question, it's not a rule.)
Short alkanes aren't very good either, being very flammable and toxic, but aren't carcinogenic afaik. As the carbon chains get longer they become benign (with the greatest risk being that of getting them in your lungs - hard to get out, causing some sort of pneumonia like illness).
Normal kerosene (in north america, at least), is about 15-20% aromatics IIRC, which is why it has an odor. More refined variants for lanterns don't. Same deal with (pharmaceutical) mineral oil, or vaseline. harmless, but they come from the same stock as kerosene, and they are all 'petroleum distillates'.