From experience I say that you definately can.

Most of my best guy friends I was really attracted to at first and the feeling for a few was mutual. The one there was a some sexual chemistry with, I think we just both knew and felt it'd be better to be friends. We werent friends with benefits, but friends who were touchy-feely. That is grabbing and fiddling with each others hands when we saw each other and leaning/hugging on each other.