How Do I ask a guy out without sounding desperate?

Anonymous
So I've been texting this guy I met at my cousins wedding since October. Everyday, never fails, even Christmas, Thanksgiving, even New Years eve when he was out with his friends.
We've been on a couple dates. The first one was just a movie, he paid for it popcorn too, and he picked me up and dropped me off. The second date he came over to watch movies in my dorm, we ended up going out to dinner, which he paid for as well, and he ended up sleeping over. We cuddled and held hands that date but we didn't hug or kiss at all.
Just for some info, I'm 20 in college and on the swim team, he's 23 he lives about 45 minutes away, and works as an electrician.
I've kind of been waiting for him to ask me on another date, but I've realized he's always came up to see me, and he probably doesn't want to just invite himself over.
So what I want to know is how do I ask him out without sounding desperate? I would also prefer it to be by him because it's hard to know when my roommate will be gone.
How Do I ask a guy out without sounding desperate?
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