Motivated by recent experiments on FeTe$_{1-x}$Se$_{x}$, we construct an explicit minimal model of an iron-based superconductor with band inversion at the $Z$ point and non-topological bulk $s_{pm}$ pairing. While there has been considerable interest in Majorana zero modes localized at vortices in such systems, we find that our model - without any vortices - intrinsically supports 1D helical Majorana modes localized at the hinges between (001) and (100) or (010) surfaces, suggesting that this is a viable platform for observing higher-order topological superconductivity. We provide a general theory for these hinge modes and discuss their stability and experimental manifestation. Our work indicates the possible experimental observability of hinge Majoranas in iron-based topological superconductors.
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