It's normal for teenage girls/boys to feel curious about sex. I think this (more than anything else) is what the two of you have most in common. You say that ya'll are friends, but all I am hearing about is the sexual communication between you.
I find it odd that ya'll are showering & lying (half clothed) on the bed & have yet to even kiss! I'm not saying that that is what you should be doing, but I just find that very strange. How do you get unclothed & on a bed without there being some type of involvement on his part? Do you just undress yourself... & why?
You ask if you should stop these acts or continue & maybe ya'll can have a "friends with benefits" relationship... Obviously, you are not looking for any type of commitment, just sex (or something similar).
You are not "craving" sex/stimulation considering you have never experienced either... you are simply curious & hormonal (as is he, I'm sure).
I am not saying that you are in the wrong, but I do think that if you have sex with him now you may regret it later. I don't know where ya'll plan on this going... but it doesn't sound like something I would continue. That's just me though! If you want to degrade yourself just to relieve some curiosity you have, then by all means! I would wait until I found someone that I really cared about, loved, & was in a relationship with. The last thing you want is to live with regret!
This may have sounded harsh, but I wish someone had said it to me! All this comes from someone who knows all too well... I know from experience.