If you dont you will always regret not doing. You wont (unfortuanatly) get one of these magical endings where you both reconect after 20 years or something. I randomly confesed to my best freindand we have been dating for 3 years. Im not saying that is going to happen for you but shoot your shot. The worst that can happen is you can resolve your feelings, one way or another.
Don't judge my profile, it's cool.