Just take the leap. Ask him out. I know it's really hard, but think about it. Worst case, he says no, you feel embarrassed. That'll pass. It may take a while, but you will get over it. Best case though, he says yes, and you've got yourself a boyfriend!
At the end of the day, it's up to you. Don't do anything you don't feel comfortable with. I'm just saying the reward is definitely worth the risk, at least in my opinion.