“Melrose Place” star Andrew Shue and Marilee Fiebig are officially engaged … after Andrew popped the question this past spring.

Andrew — the former spouse of Amy Robach — told PEOPLE that he and Marilee — T.J. Holmes‘ ex-wife — are “very grateful and hopeful” amid their engagement news.

Detailing their love journey … Andrew said that after growing close as friends, he and Marilee have found their “happy ending” together as they plan their wedding.

We reported earlier … Andrew and Marilee’s exes Amy and T.J. had their own whirlwind romance that began when they were co-workers — and co-anchors — on “GMA.”

Describing the aftermath of their respective splits from the on-air personalities, Andrew said … “I had to grow through a lot of pain and a lot of struggle and a lot of humility. I think the magic of love is when you go from a need to giving.”