Here goes. Worst case scenario, he says no and life goes on... But don't come on too strong, like asking to be a couple right off the bat or anything insane like that. Just ask casually, if he wants to hang out sometime. Maybe see a movie, grab some food somewhere, something normal. Maybe have other friends around too, for a comfort zone. You can gradually move up to doing things alone. Hope this helps.

That being said, this probably isn't the place to look for relationship advice, but you caught me in a good mood :)