It depends how old you are. If you're 16 or under you're just not ready for anything sexual, and FYI most people who do sexual things when they are young say that they regret that they didn't wait until they were older.
Sorry, but only you can work this out. You have to decide if the risk is worth it. If you do ask, your friendship could get complicated or even end. If you don't ask, you might regret it later.
Maybe you could start by finding out what he thinks about your sensual experience. If you're feeling brave, you could tell him that you enjoyed it. See what his reaction is. But whatever he decides, you're going to have to respect what he wants out of your friendship.
Maybe you could start by finding out what he thinks about your sensual experience. If you're feeling brave, you could tell him that you enjoyed it. See what his reaction is. But whatever he decides, you're going to have to respect what he wants out of your friendship.