Most Helpful Guy
try and tug at his hair a bit; do some foreplay that will get him to know that you want more.
if you’re uncomfortable about doing the initiating, then open up to him, tell him about how it makes you uncomfortable
Most Helpful Girl
I’m curious as to why you can’t ask him? You could try hinting or just bringing it up in casual conversation. Or mention it like “my friend wants to kiss her boyfriend for longer, like a classic make out session any tips for her?” You can also try wrapping your arms around him?