What should I do?

I love my best guy friend, have had a crush on him for a while and he's rumored to like me too. He's been there for me in times of trouble and ive been there for him, But he's basically a caring fuck boy. We've joked about getting down and dirty a few times but it's always been a joke, despite his sayings that if I actually wanted to he would do anything if I asked. I never actually considered it until recently due to my feelings increasing and my decent confidence, I trust him a lot and want to take a risk (would have condoms and bc of course) for once and do something out of the ordinary but I'm just worried that I'll get swept under the carpet afterwards