Friends with benefits to relationship

Have any of you ever successfully even friends with benefits with someone to where you ended up in a relationship that worked out in the long run? I’ve been seeing a guy for 3 months we are friends with benefits, he confessed that he really likes me but doesn’t know what he’s ready. Idk what to make of it. I never told him I have feelings which I do even though I tried not to but I can’t help it. I still haven’t told him because I’m afraid it will just end up being nothing.