I think five years old is too late. The basic facts about animal reproduction and how their own bodies work are something I believe they should learn from you at a very young age, casually and repeatedly, and with no shame. Remember that this is something every kid would have known (and seen) it on the farm or in the wild, until just a few decades ago.
My three-year old has known for some time that:
Males and females are anatomically different -- men/boys have a penis and females/girls have a vagina (in mammals). Also various other secondary sexual characteristics like size, hairiness, musculature, etc. And you can see differences (some the same, some different) between males and females of other animals, too.
It takes a contribution of cell each from a man and a woman, which combine and grow into a baby inside the mommy's belly for nine months, after which it comes out of the vagina. After the baby is born, it eats mostly milk from the mother's breasts/nipples (males have them, too, but they are non-functional).
This is the same process in all mammals (which we are), but it's different for other families. Actually, he knows it's not quite the same for ALL mammals, he knows about placental mammals versus marsupials. And he knows that birds and reptiles lay eggs, for example, and that only mammals have milk.
He knows all this just like he knows the about digestion, how some animals are carnivores and others herbivores, etc. It's just the very basics about his own body and the world around him. Maybe it'll help you have a natural conversation if you think about it that way, too.
Incidentally, he does NOT know the gory details of how the male and female cells get together (penis inside vagina, etc.), but that's mostly because he hasn't asked for more detail yet. I'm sure that at some point he'll realize that something interesting must be happening at that step, and he'll get an age-appropriate and matter-of-fact explanation of that, too (along with, when he's old enough for it to matter, the info on the specific changes bodies undergo at puberty, relational issues, precautions to take and/or warnings to wait, etc.).