The 29-year-old former NFL practice squad player said he "didn't know what was really next" after his stints on reality television.
"I knew that I was still coming out and I still am. So there's still things to work through right now," Underwood continued, but he gave credit to his friends and personal support group who he said have "been so helpful and impactful" over the past year.
"As far as a LGBTQ+ cast I really don't know. I would hope. I really would," Underwood told Entertainment Tonight recently. "I think it would work. I do think if people gave it a shot, the show could work. I do think, I truly believe that America is ready for it, too."
"For me, I've run from myself for a long time, I've hated myself for a long time and...I'm gay," Underwood told Good Morning America. "I came to terms with that earlier this year and have been processing all of that. The next step in all of that is been letting people know."
For now, Underwood assured his fans he is in a good place in his life.
"I have the most support that I've ever had in my life, whether it's my friends or my family," Underwood said.
He also revealed he's relishing his life as an openly gay man in love, but doing so on his own terms. And that means keeping his relationship with Brown out of the public spotlight as much as possible.