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Advice needed

This may seem immature to some of you but i have a condition that hampers my social skills and i'm always over thinking things, so i've come here in search of advice.
There's a guy at my work who i chat to sometimes, and i'd like to go out with him sometime but don't know how to go about getting to know him. I've tried talking to him on facebook but thought i was annoying him a bit (exam time) so i gave up.
I don't see him very often at work, i maybe get about ten minutes a week to talk to him, but i much prefer to get to know someone in person than by text etc.
Anyway, any advice?
I do tend to get kinda shy when i talk to folk, im fine if it's one on one but when there's other folk around i panic a bit. Help!