Is it possible for guys to cuddle with close friends without having any feelings for them?

My best friend and I have been cuddling a lot recently and sleeping over in each other's beds but nothing sexual has happened. We spoon and get pretty close, and I've caught him slipping his hand ever so slightly under the waistband of my pajamas and brushing over my boobs a few times but I don't know if that was an attempt to start something sexual or if it was just sleepy, random occurrences. He usually rubs my back or arm lightly until he falls asleep, too.

He's been my best friend for about two years now and we've always been pretty flirty, but recently it's been intimate flirting instead of just playfulness.

Sidenote; last year, he told me he sees me as a sister when I expressed interest in him. So I'm confused on all fronts.
Is it possible for guys to cuddle with close friends without having any feelings for them?
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