sex without a condom? advice

So, ive recently been hooking up witha long term friend. We have used condoms ecerytime but earlier we were talkong and somehow sex without came up. He said it was an awesome feeling but it had been forever since he had experienced it. I wasnt sure if he was hinting that he wants to. I would be open to it, with birthcontrol as a back up. But idk how to bring it up/if that's what he wants. Advice on how to figure it out  or what to say to him???
Let me add that we have both been tested recently and are only sleeping with each other. Im not worried about STIs, more about how to know if he wants condomless sex/ how to approach that conversation with him