Can a guy develop feelings for the friends with benefits?

Have a friends with benefits for 5 years. He was very clear there is no relationship we are friends ONLY. If we date other people we tell each other. He buys me gifts every holiday. He does home improvement for me. He's always telling me how great the sex is. I have multiple sclerosis and he is ALWAYS looking for ways to help me with relief for my pain. Is it possible he has developed feelings for me and will never show me? I need SO much help!! I can't read the situation at all!!!
Can a guy develop feelings for the friends with benefits?
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