No self can lead to an experience of emptiness. This is if we look at it from the mind and an individual point of view. Minds and bodies are inherently self-interested – they are our survival mechanisms and largely interested with keeping us healthy and alive, as individuals. If you take the self out of them, there is nothing left.
However, if we look at it from the point of view of either love or the collective human story, no self becomes about being part of a greater whole. We let go of our selfishness and give our experience generously to the collective.