We study the Floquet-surface bound states embedded in the continuum (BICs) and bound states out the continuum in a resonantly driven one-dimensional tilted defect-free lattice. In contrast to fragile single-particle BICs assisted by specially tailored potentials, we find that Floquet-surface BICs, stable against structural perturbations, can exist in a wide range of parameter space. By using a multiple-time-scale asymptotic analysis in the high-frequency limit, the appearance of Floquet-surface bound states can be analytically explained by effective Tamm-type defects at boundaries induced by the resonance between the periodic driving and tilt. The phase boundary of existing Floquet-surface states is also analytically given. Based on the repulsion effect of surface states, we propose to detect transition points and measure the number of Floquet-surface bound states by quantum walk. Our work opens a door to experimental realization of BICs in a quantum system.