Well, yes and no.
Yes, in that I did something while the other was sleeping. No in that I wasn't really looking, more looking by braile method.

I was a year out of HS, my buddy was a senior and having a party one weekend. I worked late, and by the time I got to the party everyone was trashed. I quickly caught up to them as they were all passing out all over the house. I snuck into my friends room where some random very cute soccer player guy was sleeping. I puleld the covers back a bit and started feeling his package through his umbros shorts - he was wearing white briefs under them...
I kept feeling him, until the head of his dick was poking out his waistband. I played with his pubic hair for a while and kept my hand outside his underwear, while cupping his balls..
I really wanted to taste his cock (had not done that yet) but was still in the closet and was scared shitless. Plus, I had the vague sense I was doing something innapropriate.
It was j/o material for years though!