Definitely yes, I've had them. Actually, they're hard to find because if it's casual sex, then many people want just a one time thing. If you're looking for more, then people tend to get emotionally involved. The ones I've found successful were ones that began sexually, then we hit it off enough to be friends too. We were compatible sexually, enjoyed the same humor, then would get together for regular play when it worked for both.
I had a buddy that turned sexual in college (my first m2m experience), and that was a disaster. He decided that was what he wanted for a long term relationship and I was just exploring for fun. So, laying out the sexual expectations first seems to work better in my experience.