... I am a man and I have successfully done this more than once.
Not like, out of the blue, first date hookup kind of thing. More like... we've at least been dating for a few weeks, more like months usually, kind of thing.
Sometimes, it ends up with just comforting, no sexy time, just ... more or less bonding time.
But, sometimes, it does end up with sexy time.
If your goal is relating to the other person, growing a relationship with them, not just sex with them... it doesn't matter.
Because your tomorrow will include that person.