Guys, should I just go ahead and ask him out?

I met this guy on Tinder, we matched on Saturday and I sent him a "truth or dare?" message. Really, I was just testing it out, 'cause I haven't really been bold before but I thought that it'd be refreshing to practice when on a dating app. He picked truth and I asked him for his number, and he gave it to me. We've been texting since then, like a lot, about a lot of different things. He seems a bit shy maybe, but I want to ask him out on a date? How should I handle it, or should I just wait for him to make the first move?
Guys, should I just go ahead and ask him out?
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