Wow, thanks for all the responses! It seems like people are pretty divided on this issue...I really don't want to lose him as a friend, of course. At the same time, I want a deeper relationship with him...

Another one of his friends is attracted to him and lets him know it. I don't know if she's ever kissed or done anything physical with him, but she at one point gave him an ultimatum "we date, or we can't be friends anymore". He was very distressed by this, because he still wanted to be friends with her even though he didn't want a relationship. Luckily, she recanted the statement, and they are still friends. So I know that merely being attracted to him is not enough to harm the friendship. I'm still scared to kiss him, though. I've never kissed anyone before, and I'm scared that I would do it wrong, and that it would be an awkward, unenjoyable experience for him.

I think I will continue to see him as a friend, gather more information about whether or not he likes me, and make a decision from there.