Like someone I've known for ages, feel a relationship would be awkward. Advice?

So I like someone I've known for a few years, but as a friend and we've only got chatting lots more this year. I don't know if I want to just be cool with being friends or if I want to attempt anything more because I genuinely feel like if we were in a relationship, the sexual stuff would feel a bit awkward due to our fairly long standing friendship. Anyone else had to deal with this or got any advice? (I also don't know how he feels about me anyway, but still need advice!)