I have. I like to use a wood preserver on the joists of the bathroom and kitchen, because water spillages and leaks are possible, and dampness encourages both worm and decay, and also in any area where there are signs of previous damage.
I use a spirit-based preservative such as Cuprinol Clear, because I find it soaks in better than the water treatments. There are cheaper own-brands, but read the list of ingredients on the safety label to check that they are equivalent.
Because these treatments are poisonous, you must wear disposable overalls, or something that will withstand a maximum wash, and cover exposed skin, hair and especially eyes. use plastic gloves, not rubber, which is broken down by some solvents. I use blue nitrile disposables. Remove any clothes that are wetted with the fluid, and wash the skin thoroughly. Do not wear soiled clothes the next day, unless they have been laundered and line-dried.
i use a large soft brush, with bristles long enough to winkle into crevices and joints. The instructions usually say apply two or more coats, applying each after the previous has soaked in, but not dried. If you are using a coloured fluid, shake or stir the can thoroughly as pigments tend to sink to the bottom. Colours help you to see any missed or thin patches.
Have the maximum possible ventilation while working, and while it dries. It will smell for a couple of days, and then when you put the radiators on next winter, the heat will drive out a bit more. I recently used a Wickes product which has a pine-like smell, not unpleasant. Leave the floor open so it can dry, don't cover it up.
There will be some spills and splashes. On a ground floor it doesn't matter, but if there is a ceiling below it may mark the plaster. I fold newspaper to lie between the joists. Have some kitchen roll to mop up spills.
Before starting treatment, sweep up and vacuum all dirt and dust. There is no point in applying the chemical to layers of dirt, and they will obstruct the fluid getting to the timber. It is also easier to see old damage on clean wood, and any new damage will be more noticeable. This will also remove any dead beetles or husks.
Professionals use a sprayer, and lift something like one floorboard in five so the spray can reach the joists. Using a brush really only works if you have taken the floor up, or if you're in an unfloored loft.