Should I ask the guy if he is interested?

I met a guy that works with me and we got along immediately. I initially made it clear that we need to have boundaries because we work together and he respected it and we decided to get to know each other slowly. Fast forward a month and things have developed. We have talked a lot about hanging out socially and last week he initiated coming over to my place for dinner, he cooked and we chatted till very late and he respectfully slept in my spare bedroom. Last night he came with me to friends for a game night and slept over in the spare room. There is fun banter and chemistry but I want to know how he feels and not sure if I want to out right ask him. What are your thoughts?

Should I ask the guy if he is interested?
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