Does he see me as more than a friend?

I really like him, what do I do?
I have a guy friend who told me he wanted to take me out for a good time awhile back, but I got nervous and never answered him. A few weeks after that he told my friend that him and I were going to go on a date. He looked at me but I got scared again and didn’t answer. We’ve never talked about it again. He helps me whenever and tells me if I ever need anything he’ll be there. He’s borrowed me his jacket, sits/stands by me in a group, teases me, dislikes guys I like, etc. He told me if I want to talk to him to just talk. He also told me Facebook messenger isn’t his thing. The last time we hung out we were talking and he took my hand in his and held it. He then pointed out that I wasn’t holding his hand back and told me I’m too scared about things.. I really like him and I don’t know what to do. Our siblings are married and I think that puts pressure on both of us. We’ve been flirting for two years now and I’m ready to date. I just don’t want to read him wrong. Help please.