How to initiate touch? Especially in romantic contextWatch this thread
To be on the safe side, you could try something like pretending to take a hair off their clothes - that way, it's not sexual or intimate, but will let you see how they react to your touching them. If they seem OK with that, a bit later on, you could try something like brushing past their hand when you are walking next to them and if they don't pull away, attempts tot hold their hand. Or you could always just ask to hold their hand. Eventually, as you become more comfortable with each other, you can progress to doing other things. Communication, and that includes looking out for non-verbal cues, is the key really.
I am probably overthinking it but i am still afraid it would feel very stressful and unnatural for me as i am calculating basic social cues to try to understand the other person and therefore make them feel like i am some kind of creep. I think that is what happened the last time i tried. I was trying to look for all the changes in behaviour and failed to notice anything until it was too late and i made her very uncomfortabl andfelt horrible for it. I feel like i am still missing something. Maybe i should just ask verbally? I somehow dont like this option but i am afraid it is necessary.
Good luck. This sort of stuff gets easier with practice.