I think the positives of the success of asking him out will outweigh the negatives of rejection of asking him out. If you think about it, if he said yes, you’ll have a boyfriend to like and love to try new things out and do stuff with and should be beneficial to yourself on all levels. If he said no, you’ll be a bit down maybe, but you know where you stand with him and you know there is no interest here so move on possible. If you don’t ask him, then you in this limbo land of confusion of this could be something amazing, or I need to look as where. I kick myself daily for not getting to know these two girls out and possible ask them out, not at the same time of course. But they were something special you don’t get many like them these days.
I know the asking out bit might seem a bit freighting. So it be best if you know where and how, personally I old fashioned so asking out in person is best, and you can read their emotion better then over some electronic device. Also you probably be best asking him out with just you two around preferably in a non-noisy environment so you can hear each other because you might go quiet on the question. If you want him that much you’ll find the bravely to do it.
At the end of the day you might be in the same boat, too worried about asking each other out. You both want the same outcome, but just don’t know how to reach it. So if you did it, you’ll save him the hassle, and you two could unlock a potentially wonderful relationship.