Should I do it?

Okay so my best friend is a guy and we’re like friends with benefits. The most we’ve ever done is make out and feel up on each other but nothing like actually intimate. I’m the reason we haven’t done anything more but he wants to have sex with me because of how attracted he is to me. He’s never forced me but every once in awhile he makes a joke about it or he just brings it up. I know that we’d be fine if we never do anything more and he won’t stop being my friend if I never let him do anything. But recently I’ve been figuring out what I like and what gets me on and I’ve been really... craving him. And I want to have sex with him and I know that he’ll be gentle and he’ll be romantic and he’ll make sure I’m ready and give me lots of foreplay and whatever I need. I’m just scared that 1. I won’t be good and he’ll see me different maybe even disappointed; 2.I’m scared it will change our relationship after; 3. I’m scared I’ll catch feelings. I’ve had feelings for him before but they weren’t THAT strong and I’m okay with not being with him as relationship because I love our friendship. My female best friend thinks I should do it but I’m not sure. What do you guys think?