Yes, I have 2 str8 male friends that I'm very very close with. Hang out, watching movies, he'll lay on the couch with his head on my lap, joke around, do all kinds of stuff. We've both seen each other naked with hard cocks, but NEVER EVER crossed the line with one of them. The other, well we've had j/o sessions, he's jacked me/I've jacked him, nothing more...just lending a helping hand. We're comfortable with who we are and respect each other very much. No big deal. They've always been there for me, and I'll always be there for them. Nothing awkward.
Peace