A Majorana mass term pairs a Weyl spinor field with itself, schematically with the spinor indices contracted. Under the continuous phase rotation , the bilinear gains , so a nonzero fixed mass breaks that continuous number symmetry.
Gauge invariance requires the contracted bilinear to be a gauge singlet, not every component of the field to be a singlet. A suitable real representation, including the Adjoint representation, can admit an invariant Majorana mass term; an adjoint gaugino is an example. A single field with nonzero conserved electric charge cannot have such a term, because its pair carries twice that electric charge.[ref]
Gauge Theory by David Tong. Section 3.4.2, printed p. 163: Majorana masses for fermions in real representations
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