I'd like to think my biological father did when I was growing up. I was really close to him and when he left, I was angry and blamed it on my mother, etc. etc. My mother would tell me all the time, a lot of the time I didn't believe it or feel it. I felt like a constant screw up and she loved my sibs more than me. My step-father told us like when we would leave for a school trip or something... Now that I look back, it may have been awkward but he had a bit of a hard life growing up and probably didn't know how to express feelings.
My sibs and I tell each other, but it's kinda rare. I remember laughing and being in shock when a co-worker of mine said at the end of a phone conversation with her brother "I love you." I thought she was talking to her boyfriend and when she was like, "No, it was my brother." I was like, "WTF?! HAHAHA! SERIOUSLY? My bro and I don't do that at all! Siblings tell each other that?"